Davide Aliprandi / X_NUCLEO_IHM03A1

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Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Fork of X_NUCLEO_IHM03A1 by ST

Components/powerstep01/powerstep01_class.h@0:00a3c3f5a8f0, 2016-04-05 (annotated)

Committer:
nucleosam
Date:
Tue Apr 05 15:18:56 2016 +0000
Revision:
0:00a3c3f5a8f0
Child:
1:8ce2a5d6fbf8
Initial version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucleosam 0:00a3c3f5a8f0 1 /**
nucleosam 0:00a3c3f5a8f0 2 ******************************************************************************
nucleosam 0:00a3c3f5a8f0 3 * @file powerstep01_class.h
nucleosam 0:00a3c3f5a8f0 4 * @author IPC Rennes
nucleosam 0:00a3c3f5a8f0 5 * @version V1.0.0
nucleosam 0:00a3c3f5a8f0 6 * @date March 18th, 2016
nucleosam 0:00a3c3f5a8f0 7 * @brief This file contains the class of a Powerstep01 Motor Control component.
nucleosam 0:00a3c3f5a8f0 8 * @note (C) COPYRIGHT 2016 STMicroelectronics
nucleosam 0:00a3c3f5a8f0 9 ******************************************************************************
nucleosam 0:00a3c3f5a8f0 10 * @attention
nucleosam 0:00a3c3f5a8f0 11 *
nucleosam 0:00a3c3f5a8f0 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nucleosam 0:00a3c3f5a8f0 13 *
nucleosam 0:00a3c3f5a8f0 14 * Redistribution and use in source and binary forms, with or without modification,
nucleosam 0:00a3c3f5a8f0 15 * are permitted provided that the following conditions are met:
nucleosam 0:00a3c3f5a8f0 16 * 1. Redistributions of source code must retain the above copyright notice,
nucleosam 0:00a3c3f5a8f0 17 * this list of conditions and the following disclaimer.
nucleosam 0:00a3c3f5a8f0 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
nucleosam 0:00a3c3f5a8f0 19 * this list of conditions and the following disclaimer in the documentation
nucleosam 0:00a3c3f5a8f0 20 * and/or other materials provided with the distribution.
nucleosam 0:00a3c3f5a8f0 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nucleosam 0:00a3c3f5a8f0 22 * may be used to endorse or promote products derived from this software
nucleosam 0:00a3c3f5a8f0 23 * without specific prior written permission.
nucleosam 0:00a3c3f5a8f0 24 *
nucleosam 0:00a3c3f5a8f0 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nucleosam 0:00a3c3f5a8f0 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nucleosam 0:00a3c3f5a8f0 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nucleosam 0:00a3c3f5a8f0 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nucleosam 0:00a3c3f5a8f0 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nucleosam 0:00a3c3f5a8f0 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nucleosam 0:00a3c3f5a8f0 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucleosam 0:00a3c3f5a8f0 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nucleosam 0:00a3c3f5a8f0 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nucleosam 0:00a3c3f5a8f0 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nucleosam 0:00a3c3f5a8f0 35 *
nucleosam 0:00a3c3f5a8f0 36 ******************************************************************************
nucleosam 0:00a3c3f5a8f0 37 */
nucleosam 0:00a3c3f5a8f0 38
nucleosam 0:00a3c3f5a8f0 39
nucleosam 0:00a3c3f5a8f0 40 /* Define to prevent recursive inclusion -------------------------------------*/
nucleosam 0:00a3c3f5a8f0 41
nucleosam 0:00a3c3f5a8f0 42 #ifndef __POWERSTEP01_CLASS_H
nucleosam 0:00a3c3f5a8f0 43 #define __POWERSTEP01_CLASS_H
nucleosam 0:00a3c3f5a8f0 44
nucleosam 0:00a3c3f5a8f0 45
nucleosam 0:00a3c3f5a8f0 46 /* Includes ------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 47
nucleosam 0:00a3c3f5a8f0 48 /* ACTION 1 ------------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 49 * Include here platform specific header files. *
nucleosam 0:00a3c3f5a8f0 50 *----------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 51 #include "mbed.h"
nucleosam 0:00a3c3f5a8f0 52 #include "DevSPI.h"
nucleosam 0:00a3c3f5a8f0 53 /* ACTION 2 ------------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 54 * Include here component specific header files. *
nucleosam 0:00a3c3f5a8f0 55 *----------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 56 #include "powerstep01.h"
nucleosam 0:00a3c3f5a8f0 57 /* ACTION 3 ------------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 58 * Include here interface specific header files. *
nucleosam 0:00a3c3f5a8f0 59 * *
nucleosam 0:00a3c3f5a8f0 60 * Example: *
nucleosam 0:00a3c3f5a8f0 61 * #include "../Interfaces/Humidity_class.h" *
nucleosam 0:00a3c3f5a8f0 62 * #include "../Interfaces/Temperature_class.h" *
nucleosam 0:00a3c3f5a8f0 63 *----------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 64 #include "../Interfaces/StepperMotor_class.h"
nucleosam 0:00a3c3f5a8f0 65
nucleosam 0:00a3c3f5a8f0 66
nucleosam 0:00a3c3f5a8f0 67 /* Classes -------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 68
nucleosam 0:00a3c3f5a8f0 69 /**
nucleosam 0:00a3c3f5a8f0 70 * @brief Class representing a Powerstep01 component.
nucleosam 0:00a3c3f5a8f0 71 */
nucleosam 0:00a3c3f5a8f0 72 class POWERSTEP01 : public StepperMotor
nucleosam 0:00a3c3f5a8f0 73 {
nucleosam 0:00a3c3f5a8f0 74 public:
nucleosam 0:00a3c3f5a8f0 75
nucleosam 0:00a3c3f5a8f0 76 /*** Constructor and Destructor Methods ***/
nucleosam 0:00a3c3f5a8f0 77
nucleosam 0:00a3c3f5a8f0 78 /**
nucleosam 0:00a3c3f5a8f0 79 * @brief Constructor.
nucleosam 0:00a3c3f5a8f0 80 * @param flag_irq pin name of the FLAG pin of the component.
nucleosam 0:00a3c3f5a8f0 81 * @param busy_irq pin name of the BUSY pin of the component.
nucleosam 0:00a3c3f5a8f0 82 * @param standby_reset pin name of the STBY\RST pin of the component.
nucleosam 0:00a3c3f5a8f0 83 * @param pwm pin name of the PWM pin of the component.
nucleosam 0:00a3c3f5a8f0 84 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
nucleosam 0:00a3c3f5a8f0 85 * @param spi SPI device to be used for communication.
nucleosam 0:00a3c3f5a8f0 86 */
nucleosam 0:00a3c3f5a8f0 87 POWERSTEP01(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), pwm(pwm), ssel(ssel), dev_spi(spi)
nucleosam 0:00a3c3f5a8f0 88 {
nucleosam 0:00a3c3f5a8f0 89 /* Checking stackability. */
nucleosam 0:00a3c3f5a8f0 90 if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
nucleosam 0:00a3c3f5a8f0 91 error("Instantiation of the powerstep01 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
nucleosam 0:00a3c3f5a8f0 92
nucleosam 0:00a3c3f5a8f0 93 /* ACTION 4 ----------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 94 * Initialize here the component's member variables, one variable per *
nucleosam 0:00a3c3f5a8f0 95 * line. *
nucleosam 0:00a3c3f5a8f0 96 * *
nucleosam 0:00a3c3f5a8f0 97 * Example: *
nucleosam 0:00a3c3f5a8f0 98 * measure = 0; *
nucleosam 0:00a3c3f5a8f0 99 * instance_id = number_of_instances++; *
nucleosam 0:00a3c3f5a8f0 100 *--------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 101 errorHandlerCallback = 0;
nucleosam 0:00a3c3f5a8f0 102 deviceInstance = numberOfDevices++;
nucleosam 0:00a3c3f5a8f0 103 memset(spiTxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
nucleosam 0:00a3c3f5a8f0 104 memset(spiRxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
nucleosam 0:00a3c3f5a8f0 105 }
nucleosam 0:00a3c3f5a8f0 106
nucleosam 0:00a3c3f5a8f0 107 /**
nucleosam 0:00a3c3f5a8f0 108 * @brief Destructor.
nucleosam 0:00a3c3f5a8f0 109 */
nucleosam 0:00a3c3f5a8f0 110 virtual ~POWERSTEP01(void) {}
nucleosam 0:00a3c3f5a8f0 111
nucleosam 0:00a3c3f5a8f0 112
nucleosam 0:00a3c3f5a8f0 113 /*** Public Component Related Methods ***/
nucleosam 0:00a3c3f5a8f0 114
nucleosam 0:00a3c3f5a8f0 115 /* ACTION 5 --------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 116 * Implement here the component's public methods, as wrappers of the C *
nucleosam 0:00a3c3f5a8f0 117 * component's functions. *
nucleosam 0:00a3c3f5a8f0 118 * They should be: *
nucleosam 0:00a3c3f5a8f0 119 * + Methods with the same name of the C component's virtual table's *
nucleosam 0:00a3c3f5a8f0 120 * functions (1); *
nucleosam 0:00a3c3f5a8f0 121 * + Methods with the same name of the C component's extended virtual *
nucleosam 0:00a3c3f5a8f0 122 * table's functions, if any (2). *
nucleosam 0:00a3c3f5a8f0 123 * *
nucleosam 0:00a3c3f5a8f0 124 * Example: *
nucleosam 0:00a3c3f5a8f0 125 * virtual int GetValue(float *pData) //(1) *
nucleosam 0:00a3c3f5a8f0 126 * { *
nucleosam 0:00a3c3f5a8f0 127 * return COMPONENT_GetValue(float *pfData); *
nucleosam 0:00a3c3f5a8f0 128 * } *
nucleosam 0:00a3c3f5a8f0 129 * *
nucleosam 0:00a3c3f5a8f0 130 * virtual int EnableFeature(void) //(2) *
nucleosam 0:00a3c3f5a8f0 131 * { *
nucleosam 0:00a3c3f5a8f0 132 * return COMPONENT_EnableFeature(); *
nucleosam 0:00a3c3f5a8f0 133 * } *
nucleosam 0:00a3c3f5a8f0 134 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 135
nucleosam 0:00a3c3f5a8f0 136 /**
nucleosam 0:00a3c3f5a8f0 137 * @brief Public functions inherited from the Component Class
nucleosam 0:00a3c3f5a8f0 138 */
nucleosam 0:00a3c3f5a8f0 139
nucleosam 0:00a3c3f5a8f0 140 /**
nucleosam 0:00a3c3f5a8f0 141 * @brief Initialize the component.
nucleosam 0:00a3c3f5a8f0 142 * @param init Pointer to device specific initalization structure.
nucleosam 0:00a3c3f5a8f0 143 * @retval "0" in case of success, an error code otherwise.
nucleosam 0:00a3c3f5a8f0 144 */
nucleosam 0:00a3c3f5a8f0 145 virtual int Init(void *init = NULL)
nucleosam 0:00a3c3f5a8f0 146 {
nucleosam 0:00a3c3f5a8f0 147 return (int) Powerstep01_Init((void *) init);
nucleosam 0:00a3c3f5a8f0 148 }
nucleosam 0:00a3c3f5a8f0 149
nucleosam 0:00a3c3f5a8f0 150 /**
nucleosam 0:00a3c3f5a8f0 151 * @brief Getting the ID of the component.
nucleosam 0:00a3c3f5a8f0 152 * @param id Pointer to an allocated variable to store the ID into.
nucleosam 0:00a3c3f5a8f0 153 * @retval "0" in case of success, an error code otherwise.
nucleosam 0:00a3c3f5a8f0 154 */
nucleosam 0:00a3c3f5a8f0 155 virtual int ReadID(uint8_t *id = NULL)
nucleosam 0:00a3c3f5a8f0 156 {
nucleosam 0:00a3c3f5a8f0 157 return (int) Powerstep01_ReadID((uint8_t *) id);
nucleosam 0:00a3c3f5a8f0 158 }
nucleosam 0:00a3c3f5a8f0 159
nucleosam 0:00a3c3f5a8f0 160 /**
nucleosam 0:00a3c3f5a8f0 161 * @brief Getting the version of the firmware.
nucleosam 0:00a3c3f5a8f0 162 * @param None.
nucleosam 0:00a3c3f5a8f0 163 * @retval The version of the firmware.
nucleosam 0:00a3c3f5a8f0 164 */
nucleosam 0:00a3c3f5a8f0 165 virtual unsigned int GetFwVersion(void)
nucleosam 0:00a3c3f5a8f0 166 {
nucleosam 0:00a3c3f5a8f0 167 return (unsigned int) Powerstep01_GetFwVersion();
nucleosam 0:00a3c3f5a8f0 168 }
nucleosam 0:00a3c3f5a8f0 169
nucleosam 0:00a3c3f5a8f0 170 /**
nucleosam 0:00a3c3f5a8f0 171 * @brief Public functions inherited from the StepperMotor Class
nucleosam 0:00a3c3f5a8f0 172 */
nucleosam 0:00a3c3f5a8f0 173
nucleosam 0:00a3c3f5a8f0 174 /**
nucleosam 0:00a3c3f5a8f0 175 * @brief Attaching an error handler.
nucleosam 0:00a3c3f5a8f0 176 * @param fptr An error handler.
nucleosam 0:00a3c3f5a8f0 177 * @retval None.
nucleosam 0:00a3c3f5a8f0 178 */
nucleosam 0:00a3c3f5a8f0 179 virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
nucleosam 0:00a3c3f5a8f0 180 {
nucleosam 0:00a3c3f5a8f0 181 Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
nucleosam 0:00a3c3f5a8f0 182 }
nucleosam 0:00a3c3f5a8f0 183
nucleosam 0:00a3c3f5a8f0 184 /**
nucleosam 0:00a3c3f5a8f0 185 * @brief Getting the value of the Status Register.
nucleosam 0:00a3c3f5a8f0 186 * @param None.
nucleosam 0:00a3c3f5a8f0 187 * @retval None.
nucleosam 0:00a3c3f5a8f0 188 * @note The Status Register's flags are cleared, contrary to ReadStatusRegister().
nucleosam 0:00a3c3f5a8f0 189 */
nucleosam 0:00a3c3f5a8f0 190 virtual unsigned int GetStatus(void)
nucleosam 0:00a3c3f5a8f0 191 {
nucleosam 0:00a3c3f5a8f0 192 return (unsigned int) Powerstep01_CmdGetStatus();
nucleosam 0:00a3c3f5a8f0 193 }
nucleosam 0:00a3c3f5a8f0 194
nucleosam 0:00a3c3f5a8f0 195 /**
nucleosam 0:00a3c3f5a8f0 196 * @brief Getting a parameter register value.
nucleosam 0:00a3c3f5a8f0 197 * @param parameter A parameter's register adress.
nucleosam 0:00a3c3f5a8f0 198 * @retval The parameter's register value.
nucleosam 0:00a3c3f5a8f0 199 * parameter can be one of the following:
nucleosam 0:00a3c3f5a8f0 200 * + POWERSTEP01_ABS_POS
nucleosam 0:00a3c3f5a8f0 201 * + POWERSTEP01_EL_POS
nucleosam 0:00a3c3f5a8f0 202 * + POWERSTEP01_MARK
nucleosam 0:00a3c3f5a8f0 203 * + POWERSTEP01_SPEED
nucleosam 0:00a3c3f5a8f0 204 * + POWERSTEP01_ACC
nucleosam 0:00a3c3f5a8f0 205 * + POWERSTEP01_DEC
nucleosam 0:00a3c3f5a8f0 206 * + POWERSTEP01_MAX_SPEED
nucleosam 0:00a3c3f5a8f0 207 * + POWERSTEP01_MIN_SPEED
nucleosam 0:00a3c3f5a8f0 208 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
nucleosam 0:00a3c3f5a8f0 209 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
nucleosam 0:00a3c3f5a8f0 210 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
nucleosam 0:00a3c3f5a8f0 211 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
nucleosam 0:00a3c3f5a8f0 212 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
nucleosam 0:00a3c3f5a8f0 213 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
nucleosam 0:00a3c3f5a8f0 214 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
nucleosam 0:00a3c3f5a8f0 215 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
nucleosam 0:00a3c3f5a8f0 216 * (voltage mode) + POWERSTEP01_INT_SPD
nucleosam 0:00a3c3f5a8f0 217 * (voltage mode) + POWERSTEP01_ST_SLP
nucleosam 0:00a3c3f5a8f0 218 * (current mode) + POWERSTEP01_T_FAST
nucleosam 0:00a3c3f5a8f0 219 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
nucleosam 0:00a3c3f5a8f0 220 * (current mode) + POWERSTEP01_TON_MIN
nucleosam 0:00a3c3f5a8f0 221 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
nucleosam 0:00a3c3f5a8f0 222 * (current mode) + POWERSTEP01_TOFF_MIN
nucleosam 0:00a3c3f5a8f0 223 * (voltage mode) + POWERSTEP01_K_THERM
nucleosam 0:00a3c3f5a8f0 224 * + POWERSTEP01_ADC_OUT
nucleosam 0:00a3c3f5a8f0 225 * + POWERSTEP01_OCD_TH
nucleosam 0:00a3c3f5a8f0 226 * (voltage mode) + POWERSTEP01_STALL_TH
nucleosam 0:00a3c3f5a8f0 227 * + POWERSTEP01_FS_SPD
nucleosam 0:00a3c3f5a8f0 228 * + POWERSTEP01_STEP_MODE
nucleosam 0:00a3c3f5a8f0 229 * + POWERSTEP01_ALARM_EN
nucleosam 0:00a3c3f5a8f0 230 * + POWERSTEP01_GATECFG1
nucleosam 0:00a3c3f5a8f0 231 * + POWERSTEP01_GATECFG2
nucleosam 0:00a3c3f5a8f0 232 * + POWERSTEP01_CONFIG
nucleosam 0:00a3c3f5a8f0 233 * + POWERSTEP01_STATUS
nucleosam 0:00a3c3f5a8f0 234 */
nucleosam 0:00a3c3f5a8f0 235 virtual unsigned int GetParameter(unsigned int parameter)
nucleosam 0:00a3c3f5a8f0 236 {
nucleosam 0:00a3c3f5a8f0 237 return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
nucleosam 0:00a3c3f5a8f0 238 }
nucleosam 0:00a3c3f5a8f0 239
nucleosam 0:00a3c3f5a8f0 240 /**
nucleosam 0:00a3c3f5a8f0 241 * @brief Getting a parameter float value.
nucleosam 0:00a3c3f5a8f0 242 * @param parameter A parameter's register adress.
nucleosam 0:00a3c3f5a8f0 243 * @retval The parameter's float value.
nucleosam 0:00a3c3f5a8f0 244 * parameter can be one of the following:
nucleosam 0:00a3c3f5a8f0 245 * + POWERSTEP01_ABS_POS
nucleosam 0:00a3c3f5a8f0 246 * + POWERSTEP01_MARK
nucleosam 0:00a3c3f5a8f0 247 * + POWERSTEP01_ACC
nucleosam 0:00a3c3f5a8f0 248 * + POWERSTEP01_DEC
nucleosam 0:00a3c3f5a8f0 249 * + POWERSTEP01_SPEED
nucleosam 0:00a3c3f5a8f0 250 * + POWERSTEP01_MAX_SPEED
nucleosam 0:00a3c3f5a8f0 251 * + POWERSTEP01_MIN_SPEED
nucleosam 0:00a3c3f5a8f0 252 * + POWERSTEP01_FS_SPD
nucleosam 0:00a3c3f5a8f0 253 * (voltage mode) + POWERSTEP01_INT_SPD
nucleosam 0:00a3c3f5a8f0 254 * (voltage mode) + POWERSTEP01_K_THERM
nucleosam 0:00a3c3f5a8f0 255 * + POWERSTEP01_OCD_TH
nucleosam 0:00a3c3f5a8f0 256 * (voltage mode) + POWERSTEP01_STALL_TH
nucleosam 0:00a3c3f5a8f0 257 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
nucleosam 0:00a3c3f5a8f0 258 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
nucleosam 0:00a3c3f5a8f0 259 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
nucleosam 0:00a3c3f5a8f0 260 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
nucleosam 0:00a3c3f5a8f0 261 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
nucleosam 0:00a3c3f5a8f0 262 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
nucleosam 0:00a3c3f5a8f0 263 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
nucleosam 0:00a3c3f5a8f0 264 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
nucleosam 0:00a3c3f5a8f0 265 * (voltage mode) + POWERSTEP01_ST_SLP
nucleosam 0:00a3c3f5a8f0 266 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
nucleosam 0:00a3c3f5a8f0 267 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
nucleosam 0:00a3c3f5a8f0 268 */
nucleosam 0:00a3c3f5a8f0 269 virtual float GetAnalogValue(unsigned int parameter)
nucleosam 0:00a3c3f5a8f0 270 {
nucleosam 0:00a3c3f5a8f0 271 return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
nucleosam 0:00a3c3f5a8f0 272 }
nucleosam 0:00a3c3f5a8f0 273
nucleosam 0:00a3c3f5a8f0 274
nucleosam 0:00a3c3f5a8f0 275 /**
nucleosam 0:00a3c3f5a8f0 276 * @brief Getting the position.
nucleosam 0:00a3c3f5a8f0 277 * @param None.
nucleosam 0:00a3c3f5a8f0 278 * @retval The position.
nucleosam 0:00a3c3f5a8f0 279 */
nucleosam 0:00a3c3f5a8f0 280 virtual signed int GetPosition(void)
nucleosam 0:00a3c3f5a8f0 281 {
nucleosam 0:00a3c3f5a8f0 282 return (signed int)Powerstep01_GetPosition();
nucleosam 0:00a3c3f5a8f0 283 }
nucleosam 0:00a3c3f5a8f0 284
nucleosam 0:00a3c3f5a8f0 285 /**
nucleosam 0:00a3c3f5a8f0 286 * @brief Getting the marked position.
nucleosam 0:00a3c3f5a8f0 287 * @param None.
nucleosam 0:00a3c3f5a8f0 288 * @retval The marked position.
nucleosam 0:00a3c3f5a8f0 289 */
nucleosam 0:00a3c3f5a8f0 290 virtual signed int GetMark(void)
nucleosam 0:00a3c3f5a8f0 291 {
nucleosam 0:00a3c3f5a8f0 292 return (signed int)Powerstep01_GetMark();
nucleosam 0:00a3c3f5a8f0 293 }
nucleosam 0:00a3c3f5a8f0 294
nucleosam 0:00a3c3f5a8f0 295 /**
nucleosam 0:00a3c3f5a8f0 296 * @brief Getting the current speed in pps.
nucleosam 0:00a3c3f5a8f0 297 * @param None.
nucleosam 0:00a3c3f5a8f0 298 * @retval The current speed in pps.
nucleosam 0:00a3c3f5a8f0 299 */
nucleosam 0:00a3c3f5a8f0 300 virtual unsigned int GetSpeed(void)
nucleosam 0:00a3c3f5a8f0 301 {
nucleosam 0:00a3c3f5a8f0 302 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_SPEED));
nucleosam 0:00a3c3f5a8f0 303 }
nucleosam 0:00a3c3f5a8f0 304
nucleosam 0:00a3c3f5a8f0 305 /**
nucleosam 0:00a3c3f5a8f0 306 * @brief Getting the maximum speed in pps.
nucleosam 0:00a3c3f5a8f0 307 * @param None.
nucleosam 0:00a3c3f5a8f0 308 * @retval The maximum speed in pps.
nucleosam 0:00a3c3f5a8f0 309 */
nucleosam 0:00a3c3f5a8f0 310 virtual unsigned int GetMaxSpeed(void)
nucleosam 0:00a3c3f5a8f0 311 {
nucleosam 0:00a3c3f5a8f0 312 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MAX_SPEED));
nucleosam 0:00a3c3f5a8f0 313 }
nucleosam 0:00a3c3f5a8f0 314
nucleosam 0:00a3c3f5a8f0 315 /**
nucleosam 0:00a3c3f5a8f0 316 * @brief Getting the minimum speed in pps.
nucleosam 0:00a3c3f5a8f0 317 * @param None.
nucleosam 0:00a3c3f5a8f0 318 * @retval The minimum speed in pps.
nucleosam 0:00a3c3f5a8f0 319 */
nucleosam 0:00a3c3f5a8f0 320 virtual unsigned int GetMinSpeed(void)
nucleosam 0:00a3c3f5a8f0 321 {
nucleosam 0:00a3c3f5a8f0 322 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MIN_SPEED));
nucleosam 0:00a3c3f5a8f0 323 }
nucleosam 0:00a3c3f5a8f0 324
nucleosam 0:00a3c3f5a8f0 325 /**
nucleosam 0:00a3c3f5a8f0 326 * @brief Getting the acceleration in pps^2.
nucleosam 0:00a3c3f5a8f0 327 * @param None.
nucleosam 0:00a3c3f5a8f0 328 * @retval The acceleration in pps^2.
nucleosam 0:00a3c3f5a8f0 329 */
nucleosam 0:00a3c3f5a8f0 330 virtual unsigned int GetAcceleration(void)
nucleosam 0:00a3c3f5a8f0 331 {
nucleosam 0:00a3c3f5a8f0 332 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_ACC));
nucleosam 0:00a3c3f5a8f0 333 }
nucleosam 0:00a3c3f5a8f0 334
nucleosam 0:00a3c3f5a8f0 335 /**
nucleosam 0:00a3c3f5a8f0 336 * @brief Getting the deceleration in pps^2.
nucleosam 0:00a3c3f5a8f0 337 * @param None.
nucleosam 0:00a3c3f5a8f0 338 * @retval The deceleration in pps^2.
nucleosam 0:00a3c3f5a8f0 339 */
nucleosam 0:00a3c3f5a8f0 340 virtual unsigned int GetDeceleration(void)
nucleosam 0:00a3c3f5a8f0 341 {
nucleosam 0:00a3c3f5a8f0 342 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_DEC));
nucleosam 0:00a3c3f5a8f0 343 }
nucleosam 0:00a3c3f5a8f0 344
nucleosam 0:00a3c3f5a8f0 345 /**
nucleosam 0:00a3c3f5a8f0 346 * @brief Getting the direction of rotation.
nucleosam 0:00a3c3f5a8f0 347 * @param None.
nucleosam 0:00a3c3f5a8f0 348 * @retval The direction of rotation.
nucleosam 0:00a3c3f5a8f0 349 */
nucleosam 0:00a3c3f5a8f0 350 virtual direction_t GetDirection(void)
nucleosam 0:00a3c3f5a8f0 351 {
nucleosam 0:00a3c3f5a8f0 352 if ((POWERSTEP01_STATUS_DIR&Powerstep01_ReadStatusRegister())!=0)
nucleosam 0:00a3c3f5a8f0 353 {
nucleosam 0:00a3c3f5a8f0 354 return FWD;
nucleosam 0:00a3c3f5a8f0 355 }
nucleosam 0:00a3c3f5a8f0 356 else
nucleosam 0:00a3c3f5a8f0 357 {
nucleosam 0:00a3c3f5a8f0 358 return BWD;
nucleosam 0:00a3c3f5a8f0 359 }
nucleosam 0:00a3c3f5a8f0 360 }
nucleosam 0:00a3c3f5a8f0 361
nucleosam 0:00a3c3f5a8f0 362 /**
nucleosam 0:00a3c3f5a8f0 363 * @brief Setting a parameter.
nucleosam 0:00a3c3f5a8f0 364 * @param parameter A parameter's register adress.
nucleosam 0:00a3c3f5a8f0 365 * @param value The parameter's value.
nucleosam 0:00a3c3f5a8f0 366 * @retval None.
nucleosam 0:00a3c3f5a8f0 367 * parameter can be one of the following:
nucleosam 0:00a3c3f5a8f0 368 * + POWERSTEP01_ABS_POS
nucleosam 0:00a3c3f5a8f0 369 * + POWERSTEP01_EL_POS
nucleosam 0:00a3c3f5a8f0 370 * + POWERSTEP01_MARK
nucleosam 0:00a3c3f5a8f0 371 * + POWERSTEP01_ACC
nucleosam 0:00a3c3f5a8f0 372 * + POWERSTEP01_DEC
nucleosam 0:00a3c3f5a8f0 373 * + POWERSTEP01_MAX_SPEED
nucleosam 0:00a3c3f5a8f0 374 * + POWERSTEP01_MIN_SPEED
nucleosam 0:00a3c3f5a8f0 375 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
nucleosam 0:00a3c3f5a8f0 376 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
nucleosam 0:00a3c3f5a8f0 377 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
nucleosam 0:00a3c3f5a8f0 378 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
nucleosam 0:00a3c3f5a8f0 379 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
nucleosam 0:00a3c3f5a8f0 380 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
nucleosam 0:00a3c3f5a8f0 381 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
nucleosam 0:00a3c3f5a8f0 382 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
nucleosam 0:00a3c3f5a8f0 383 * (voltage mode) + POWERSTEP01_INT_SPD
nucleosam 0:00a3c3f5a8f0 384 * (voltage mode) + POWERSTEP01_ST_SLP
nucleosam 0:00a3c3f5a8f0 385 * (current mode) + POWERSTEP01_T_FAST
nucleosam 0:00a3c3f5a8f0 386 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
nucleosam 0:00a3c3f5a8f0 387 * (current mode) + POWERSTEP01_TON_MIN
nucleosam 0:00a3c3f5a8f0 388 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
nucleosam 0:00a3c3f5a8f0 389 * (current mode) + POWERSTEP01_TOFF_MIN
nucleosam 0:00a3c3f5a8f0 390 * (voltage mode) + POWERSTEP01_K_THERM
nucleosam 0:00a3c3f5a8f0 391 * + POWERSTEP01_ADC_OUT
nucleosam 0:00a3c3f5a8f0 392 * + POWERSTEP01_OCD_TH
nucleosam 0:00a3c3f5a8f0 393 * (voltage mode) + POWERSTEP01_STALL_TH
nucleosam 0:00a3c3f5a8f0 394 * + POWERSTEP01_FS_SPD
nucleosam 0:00a3c3f5a8f0 395 * + POWERSTEP01_STEP_MODE
nucleosam 0:00a3c3f5a8f0 396 * + POWERSTEP01_ALARM_EN
nucleosam 0:00a3c3f5a8f0 397 * + POWERSTEP01_GATECFG1
nucleosam 0:00a3c3f5a8f0 398 * + POWERSTEP01_GATECFG2
nucleosam 0:00a3c3f5a8f0 399 * + POWERSTEP01_CONFIG
nucleosam 0:00a3c3f5a8f0 400 */
nucleosam 0:00a3c3f5a8f0 401 virtual void SetParameter(unsigned int parameter, unsigned int value)
nucleosam 0:00a3c3f5a8f0 402 {
nucleosam 0:00a3c3f5a8f0 403 Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
nucleosam 0:00a3c3f5a8f0 404 }
nucleosam 0:00a3c3f5a8f0 405
nucleosam 0:00a3c3f5a8f0 406 /**
nucleosam 0:00a3c3f5a8f0 407 * @brief Setting a parameter with an input float value.
nucleosam 0:00a3c3f5a8f0 408 * @param param Register adress.
nucleosam 0:00a3c3f5a8f0 409 * @param value Float value to convert and set into the register.
nucleosam 0:00a3c3f5a8f0 410 * @retval TRUE if param and value are valid, FALSE otherwise
nucleosam 0:00a3c3f5a8f0 411 * @note parameter can be one of the following:
nucleosam 0:00a3c3f5a8f0 412 * + POWERSTEP01_EL_POS
nucleosam 0:00a3c3f5a8f0 413 * + POWERSTEP01_ABS_POS
nucleosam 0:00a3c3f5a8f0 414 * + POWERSTEP01_MARK
nucleosam 0:00a3c3f5a8f0 415 * + POWERSTEP01_ACC
nucleosam 0:00a3c3f5a8f0 416 * + POWERSTEP01_DEC
nucleosam 0:00a3c3f5a8f0 417 * + POWERSTEP01_MAX_SPEED
nucleosam 0:00a3c3f5a8f0 418 * + POWERSTEP01_MIN_SPEED
nucleosam 0:00a3c3f5a8f0 419 * + POWERSTEP01_FS_SPD
nucleosam 0:00a3c3f5a8f0 420 * + POWERSTEP01_INT_SPD
nucleosam 0:00a3c3f5a8f0 421 * + POWERSTEP01_K_THERM
nucleosam 0:00a3c3f5a8f0 422 * + POWERSTEP01_OCD_TH
nucleosam 0:00a3c3f5a8f0 423 * + POWERSTEP01_STALL_TH
nucleosam 0:00a3c3f5a8f0 424 * + POWERSTEP01_KVAL_HOLD
nucleosam 0:00a3c3f5a8f0 425 * + POWERSTEP01_KVAL_RUN
nucleosam 0:00a3c3f5a8f0 426 * + POWERSTEP01_KVAL_ACC
nucleosam 0:00a3c3f5a8f0 427 * + POWERSTEP01_KVAL_DEC
nucleosam 0:00a3c3f5a8f0 428 * + POWERSTEP01_ST_SLP
nucleosam 0:00a3c3f5a8f0 429 * + POWERSTEP01_FN_SLP_ACC
nucleosam 0:00a3c3f5a8f0 430 * + POWERSTEP01_FN_SLP_DEC
nucleosam 0:00a3c3f5a8f0 431 * + POWERSTEP01_TVAL_HOLD
nucleosam 0:00a3c3f5a8f0 432 * + POWERSTEP01_TVAL_RUN
nucleosam 0:00a3c3f5a8f0 433 * + POWERSTEP01_TVAL_ACC
nucleosam 0:00a3c3f5a8f0 434 * + POWERSTEP01_TVAL_DEC
nucleosam 0:00a3c3f5a8f0 435 * + POWERSTEP01_TON_MIN
nucleosam 0:00a3c3f5a8f0 436 * + POWERSTEP01_TOFF_MIN
nucleosam 0:00a3c3f5a8f0 437 */
nucleosam 0:00a3c3f5a8f0 438 virtual bool SetAnalogValue(unsigned int param, float value)
nucleosam 0:00a3c3f5a8f0 439 {
nucleosam 0:00a3c3f5a8f0 440 return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
nucleosam 0:00a3c3f5a8f0 441 }
nucleosam 0:00a3c3f5a8f0 442
nucleosam 0:00a3c3f5a8f0 443 /**
nucleosam 0:00a3c3f5a8f0 444 * @brief Setting the current position to be the home position.
nucleosam 0:00a3c3f5a8f0 445 * @param None.
nucleosam 0:00a3c3f5a8f0 446 * @retval None.
nucleosam 0:00a3c3f5a8f0 447 */
nucleosam 0:00a3c3f5a8f0 448 virtual void SetHome(void)
nucleosam 0:00a3c3f5a8f0 449 {
nucleosam 0:00a3c3f5a8f0 450 Powerstep01_SetHome();
nucleosam 0:00a3c3f5a8f0 451 }
nucleosam 0:00a3c3f5a8f0 452
nucleosam 0:00a3c3f5a8f0 453 /**
nucleosam 0:00a3c3f5a8f0 454 * @brief Setting the current position to be the marked position.
nucleosam 0:00a3c3f5a8f0 455 * @param None.
nucleosam 0:00a3c3f5a8f0 456 * @retval None.
nucleosam 0:00a3c3f5a8f0 457 */
nucleosam 0:00a3c3f5a8f0 458 virtual void SetMark(void)
nucleosam 0:00a3c3f5a8f0 459 {
nucleosam 0:00a3c3f5a8f0 460 Powerstep01_SetMark();
nucleosam 0:00a3c3f5a8f0 461 }
nucleosam 0:00a3c3f5a8f0 462
nucleosam 0:00a3c3f5a8f0 463 /**
nucleosam 0:00a3c3f5a8f0 464 * @brief Setting the maximum speed in steps/s.
nucleosam 0:00a3c3f5a8f0 465 * @param speed The maximum speed in steps/s.
nucleosam 0:00a3c3f5a8f0 466 * @retval TRUE if value is valid, FALSE otherwise.
nucleosam 0:00a3c3f5a8f0 467 */
nucleosam 0:00a3c3f5a8f0 468 virtual bool SetMaxSpeed(unsigned int speed)
nucleosam 0:00a3c3f5a8f0 469 {
nucleosam 0:00a3c3f5a8f0 470 return Powerstep01_SetAnalogValue(POWERSTEP01_MAX_SPEED, (float)speed);
nucleosam 0:00a3c3f5a8f0 471 }
nucleosam 0:00a3c3f5a8f0 472
nucleosam 0:00a3c3f5a8f0 473 /**
nucleosam 0:00a3c3f5a8f0 474 * @brief Setting the minimum speed in steps/s.
nucleosam 0:00a3c3f5a8f0 475 * @param speed The minimum speed in steps/s.
nucleosam 0:00a3c3f5a8f0 476 * @retval TRUE if value is valid, FALSE otherwise.
nucleosam 0:00a3c3f5a8f0 477 */
nucleosam 0:00a3c3f5a8f0 478 virtual bool SetMinSpeed(unsigned int speed)
nucleosam 0:00a3c3f5a8f0 479 {
nucleosam 0:00a3c3f5a8f0 480 return Powerstep01_SetAnalogValue(POWERSTEP01_MIN_SPEED, (float)speed);
nucleosam 0:00a3c3f5a8f0 481 }
nucleosam 0:00a3c3f5a8f0 482
nucleosam 0:00a3c3f5a8f0 483 /**
nucleosam 0:00a3c3f5a8f0 484 * @brief Setting the acceleration in steps/s^2.
nucleosam 0:00a3c3f5a8f0 485 * @param acceleration The acceleration in steps/s^2.
nucleosam 0:00a3c3f5a8f0 486 * @retval None.
nucleosam 0:00a3c3f5a8f0 487 */
nucleosam 0:00a3c3f5a8f0 488 virtual bool SetAcceleration(unsigned int acceleration)
nucleosam 0:00a3c3f5a8f0 489 {
nucleosam 0:00a3c3f5a8f0 490 return Powerstep01_SetAnalogValue(POWERSTEP01_ACC, (float)acceleration);
nucleosam 0:00a3c3f5a8f0 491 }
nucleosam 0:00a3c3f5a8f0 492
nucleosam 0:00a3c3f5a8f0 493 /**
nucleosam 0:00a3c3f5a8f0 494 * @brief Setting the deceleration in steps/s^2.
nucleosam 0:00a3c3f5a8f0 495 * @param deceleration The deceleration in steps/s^2.
nucleosam 0:00a3c3f5a8f0 496 * @retval None.
nucleosam 0:00a3c3f5a8f0 497 */
nucleosam 0:00a3c3f5a8f0 498 virtual bool SetDeceleration(unsigned int deceleration)
nucleosam 0:00a3c3f5a8f0 499 {
nucleosam 0:00a3c3f5a8f0 500 return Powerstep01_SetAnalogValue(POWERSTEP01_DEC, (float)deceleration);
nucleosam 0:00a3c3f5a8f0 501 }
nucleosam 0:00a3c3f5a8f0 502
nucleosam 0:00a3c3f5a8f0 503 /**
nucleosam 0:00a3c3f5a8f0 504 * @brief Setting the Step Mode.
nucleosam 0:00a3c3f5a8f0 505 * @param step_mode The Step Mode.
nucleosam 0:00a3c3f5a8f0 506 * @retval None.
nucleosam 0:00a3c3f5a8f0 507 * @note step_mode can be one of the following:
nucleosam 0:00a3c3f5a8f0 508 * + STEP_MODE_FULL
nucleosam 0:00a3c3f5a8f0 509 * + STEP_MODE_HALF
nucleosam 0:00a3c3f5a8f0 510 * + STEP_MODE_1_4
nucleosam 0:00a3c3f5a8f0 511 * + STEP_MODE_1_8
nucleosam 0:00a3c3f5a8f0 512 * + STEP_MODE_1_16
nucleosam 0:00a3c3f5a8f0 513 * + STEP_MODE_1_32
nucleosam 0:00a3c3f5a8f0 514 * + STEP_MODE_1_64
nucleosam 0:00a3c3f5a8f0 515 * + STEP_MODE_1_128
nucleosam 0:00a3c3f5a8f0 516 */
nucleosam 0:00a3c3f5a8f0 517 virtual void SetStepMode(motorStepMode_t step_mode)
nucleosam 0:00a3c3f5a8f0 518 {
nucleosam 0:00a3c3f5a8f0 519 Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
nucleosam 0:00a3c3f5a8f0 520 }
nucleosam 0:00a3c3f5a8f0 521
nucleosam 0:00a3c3f5a8f0 522 /**
nucleosam 0:00a3c3f5a8f0 523 * @brief Going to a specified position.
nucleosam 0:00a3c3f5a8f0 524 * @param position The desired position.
nucleosam 0:00a3c3f5a8f0 525 * @retval None.
nucleosam 0:00a3c3f5a8f0 526 */
nucleosam 0:00a3c3f5a8f0 527 virtual void GoTo(signed int position)
nucleosam 0:00a3c3f5a8f0 528 {
nucleosam 0:00a3c3f5a8f0 529 Powerstep01_CmdGoTo((int32_t)position);
nucleosam 0:00a3c3f5a8f0 530 }
nucleosam 0:00a3c3f5a8f0 531
nucleosam 0:00a3c3f5a8f0 532 virtual void GoTo(direction_t direction, signed int position)
nucleosam 0:00a3c3f5a8f0 533 {
nucleosam 0:00a3c3f5a8f0 534 Powerstep01_CmdGoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position);
nucleosam 0:00a3c3f5a8f0 535 }
nucleosam 0:00a3c3f5a8f0 536
nucleosam 0:00a3c3f5a8f0 537 /**
nucleosam 0:00a3c3f5a8f0 538 * @brief Going to the home position.
nucleosam 0:00a3c3f5a8f0 539 * @param None.
nucleosam 0:00a3c3f5a8f0 540 * @retval None.
nucleosam 0:00a3c3f5a8f0 541 */
nucleosam 0:00a3c3f5a8f0 542 virtual void GoHome(void)
nucleosam 0:00a3c3f5a8f0 543 {
nucleosam 0:00a3c3f5a8f0 544 Powerstep01_CmdGoHome();
nucleosam 0:00a3c3f5a8f0 545 }
nucleosam 0:00a3c3f5a8f0 546
nucleosam 0:00a3c3f5a8f0 547 /**
nucleosam 0:00a3c3f5a8f0 548 * @brief Going to the marked position.
nucleosam 0:00a3c3f5a8f0 549 * @param None.
nucleosam 0:00a3c3f5a8f0 550 * @retval None.
nucleosam 0:00a3c3f5a8f0 551 */
nucleosam 0:00a3c3f5a8f0 552 virtual void GoMark(void)
nucleosam 0:00a3c3f5a8f0 553 {
nucleosam 0:00a3c3f5a8f0 554 Powerstep01_CmdGoMark();
nucleosam 0:00a3c3f5a8f0 555 }
nucleosam 0:00a3c3f5a8f0 556
nucleosam 0:00a3c3f5a8f0 557 /**
nucleosam 0:00a3c3f5a8f0 558 * @brief Running the motor towards a specified direction.
nucleosam 0:00a3c3f5a8f0 559 * @param direction The direction of rotation.
nucleosam 0:00a3c3f5a8f0 560 * @retval None.
nucleosam 0:00a3c3f5a8f0 561 */
nucleosam 0:00a3c3f5a8f0 562 virtual void Run(direction_t direction)
nucleosam 0:00a3c3f5a8f0 563 {
nucleosam 0:00a3c3f5a8f0 564 Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Powerstep01_CmdGetParam((powerstep01_Registers_t) POWERSTEP01_MAX_SPEED));
nucleosam 0:00a3c3f5a8f0 565 }
nucleosam 0:00a3c3f5a8f0 566
nucleosam 0:00a3c3f5a8f0 567 /**
nucleosam 0:00a3c3f5a8f0 568 * @brief Running the motor towards a specified direction.
nucleosam 0:00a3c3f5a8f0 569 * @param direction The direction of rotation.
nucleosam 0:00a3c3f5a8f0 570 * @param speed in steps/s.
nucleosam 0:00a3c3f5a8f0 571 * @retval None.
nucleosam 0:00a3c3f5a8f0 572 */
nucleosam 0:00a3c3f5a8f0 573 virtual void Run(direction_t direction, float speed)
nucleosam 0:00a3c3f5a8f0 574 {
nucleosam 0:00a3c3f5a8f0 575 Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Speed_Steps_s_to_RegVal(speed));
nucleosam 0:00a3c3f5a8f0 576 }
nucleosam 0:00a3c3f5a8f0 577
nucleosam 0:00a3c3f5a8f0 578 /**
nucleosam 0:00a3c3f5a8f0 579 * @brief Moving the motor towards a specified direction for a certain number of steps.
nucleosam 0:00a3c3f5a8f0 580 * @param direction The direction of rotation.
nucleosam 0:00a3c3f5a8f0 581 * @param steps The desired number of steps.
nucleosam 0:00a3c3f5a8f0 582 * @retval None.
nucleosam 0:00a3c3f5a8f0 583 */
nucleosam 0:00a3c3f5a8f0 584 virtual void Move(direction_t direction, unsigned int steps)
nucleosam 0:00a3c3f5a8f0 585 {
nucleosam 0:00a3c3f5a8f0 586 Powerstep01_CmdMove((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps);
nucleosam 0:00a3c3f5a8f0 587 }
nucleosam 0:00a3c3f5a8f0 588
nucleosam 0:00a3c3f5a8f0 589 /**
nucleosam 0:00a3c3f5a8f0 590 * @brief Stopping the motor through an immediate deceleration up to zero speed.
nucleosam 0:00a3c3f5a8f0 591 * @param None.
nucleosam 0:00a3c3f5a8f0 592 * @retval None.
nucleosam 0:00a3c3f5a8f0 593 */
nucleosam 0:00a3c3f5a8f0 594 virtual void SoftStop(void)
nucleosam 0:00a3c3f5a8f0 595 {
nucleosam 0:00a3c3f5a8f0 596 Powerstep01_CmdSoftStop();
nucleosam 0:00a3c3f5a8f0 597 }
nucleosam 0:00a3c3f5a8f0 598
nucleosam 0:00a3c3f5a8f0 599 /**
nucleosam 0:00a3c3f5a8f0 600 * @brief Stopping the motor through an immediate infinite deceleration.
nucleosam 0:00a3c3f5a8f0 601 * @param None.
nucleosam 0:00a3c3f5a8f0 602 * @retval None.
nucleosam 0:00a3c3f5a8f0 603 */
nucleosam 0:00a3c3f5a8f0 604 virtual void HardStop(void)
nucleosam 0:00a3c3f5a8f0 605 {
nucleosam 0:00a3c3f5a8f0 606 Powerstep01_CmdHardStop();
nucleosam 0:00a3c3f5a8f0 607 }
nucleosam 0:00a3c3f5a8f0 608
nucleosam 0:00a3c3f5a8f0 609 /**
nucleosam 0:00a3c3f5a8f0 610 * @brief Disabling the power bridge after performing a deceleration to zero.
nucleosam 0:00a3c3f5a8f0 611 * @param None.
nucleosam 0:00a3c3f5a8f0 612 * @retval None.
nucleosam 0:00a3c3f5a8f0 613 */
nucleosam 0:00a3c3f5a8f0 614 virtual void SoftHiZ(void)
nucleosam 0:00a3c3f5a8f0 615 {
nucleosam 0:00a3c3f5a8f0 616 Powerstep01_CmdSoftHiZ();
nucleosam 0:00a3c3f5a8f0 617 }
nucleosam 0:00a3c3f5a8f0 618
nucleosam 0:00a3c3f5a8f0 619 /**
nucleosam 0:00a3c3f5a8f0 620 * @brief Disabling the power bridge immediately.
nucleosam 0:00a3c3f5a8f0 621 * @param None.
nucleosam 0:00a3c3f5a8f0 622 * @retval None.
nucleosam 0:00a3c3f5a8f0 623 */
nucleosam 0:00a3c3f5a8f0 624 virtual void HardHiZ(void)
nucleosam 0:00a3c3f5a8f0 625 {
nucleosam 0:00a3c3f5a8f0 626 Powerstep01_CmdHardHiZ();
nucleosam 0:00a3c3f5a8f0 627 }
nucleosam 0:00a3c3f5a8f0 628
nucleosam 0:00a3c3f5a8f0 629 /**
nucleosam 0:00a3c3f5a8f0 630 * @brief Waiting while the motor is active.
nucleosam 0:00a3c3f5a8f0 631 * @param None.
nucleosam 0:00a3c3f5a8f0 632 * @retval None.
nucleosam 0:00a3c3f5a8f0 633 */
nucleosam 0:00a3c3f5a8f0 634 virtual void WaitWhileActive(void)
nucleosam 0:00a3c3f5a8f0 635 {
nucleosam 0:00a3c3f5a8f0 636 Powerstep01_WaitWhileActive();
nucleosam 0:00a3c3f5a8f0 637 }
nucleosam 0:00a3c3f5a8f0 638
nucleosam 0:00a3c3f5a8f0 639 /**
nucleosam 0:00a3c3f5a8f0 640 * @brief Public functions NOT inherited
nucleosam 0:00a3c3f5a8f0 641 */
nucleosam 0:00a3c3f5a8f0 642
nucleosam 0:00a3c3f5a8f0 643 /**
nucleosam 0:00a3c3f5a8f0 644 * @brief Checks if the device is busy by reading the busy pin position.
nucleosam 0:00a3c3f5a8f0 645 * @param None.
nucleosam 0:00a3c3f5a8f0 646 * @retval One if the device his busy (low logic level on busy output),
nucleosam 0:00a3c3f5a8f0 647 * otherwise zero
nucleosam 0:00a3c3f5a8f0 648 */
nucleosam 0:00a3c3f5a8f0 649 virtual int CheckBusyHw(void)
nucleosam 0:00a3c3f5a8f0 650 {
nucleosam 0:00a3c3f5a8f0 651 if (busy_irq!=0) return 0x01;
nucleosam 0:00a3c3f5a8f0 652 else return 0x00;
nucleosam 0:00a3c3f5a8f0 653 }
nucleosam 0:00a3c3f5a8f0 654
nucleosam 0:00a3c3f5a8f0 655 /**
nucleosam 0:00a3c3f5a8f0 656 * @brief Checks if the device has an alarm flag set by reading the flag pin position.
nucleosam 0:00a3c3f5a8f0 657 * @param None.
nucleosam 0:00a3c3f5a8f0 658 * @retval One if the device has an alarm flag set (low logic level on flag output),
nucleosam 0:00a3c3f5a8f0 659 * otherwise zero
nucleosam 0:00a3c3f5a8f0 660 */
nucleosam 0:00a3c3f5a8f0 661 virtual unsigned int CheckStatusHw(void)
nucleosam 0:00a3c3f5a8f0 662 {
nucleosam 0:00a3c3f5a8f0 663 if (flag_irq!=0) return 0x01;
nucleosam 0:00a3c3f5a8f0 664 else return 0x00;
nucleosam 0:00a3c3f5a8f0 665 }
nucleosam 0:00a3c3f5a8f0 666
nucleosam 0:00a3c3f5a8f0 667 /**
nucleosam 0:00a3c3f5a8f0 668 * @brief Fetch and clear status flags of all devices
nucleosam 0:00a3c3f5a8f0 669 * by issuing a GET_STATUS command simultaneously
nucleosam 0:00a3c3f5a8f0 670 * to all devices.
nucleosam 0:00a3c3f5a8f0 671 * Then, the fetched status of each device can be retrieved
nucleosam 0:00a3c3f5a8f0 672 * by using the Powerstep01_GetFetchedStatus function
nucleosam 0:00a3c3f5a8f0 673 * provided there is no other calls to functions which
nucleosam 0:00a3c3f5a8f0 674 * use the SPI in between.
nucleosam 0:00a3c3f5a8f0 675 * @retval None
nucleosam 0:00a3c3f5a8f0 676 */
nucleosam 0:00a3c3f5a8f0 677 virtual void FetchAndClearAllStatus(void)
nucleosam 0:00a3c3f5a8f0 678 {
nucleosam 0:00a3c3f5a8f0 679 Powerstep01_FetchAndClearAllStatus();
nucleosam 0:00a3c3f5a8f0 680 }
nucleosam 0:00a3c3f5a8f0 681
nucleosam 0:00a3c3f5a8f0 682 /**
nucleosam 0:00a3c3f5a8f0 683 * @brief Get the value of the STATUS register which was
nucleosam 0:00a3c3f5a8f0 684 * fetched by using Powerstep01_FetchAndClearAllStatus.
nucleosam 0:00a3c3f5a8f0 685 * The fetched values are available as long as there
nucleosam 0:00a3c3f5a8f0 686 * no other calls to functions which use the SPI.
nucleosam 0:00a3c3f5a8f0 687 * @retval Last fetched value of the STATUS register.
nucleosam 0:00a3c3f5a8f0 688 */
nucleosam 0:00a3c3f5a8f0 689 virtual uint16_t GetFetchedStatus(void)
nucleosam 0:00a3c3f5a8f0 690 {
nucleosam 0:00a3c3f5a8f0 691 return Powerstep01_GetFetchedStatus();
nucleosam 0:00a3c3f5a8f0 692 }
nucleosam 0:00a3c3f5a8f0 693
nucleosam 0:00a3c3f5a8f0 694 /**
nucleosam 0:00a3c3f5a8f0 695 * @brief Issues PowerStep01 Go Until command.
nucleosam 0:00a3c3f5a8f0 696 * @param action type of action to undertake when the SW
nucleosam 0:00a3c3f5a8f0 697 * input is forced high (ACTION_RESET or ACTION_COPY).
nucleosam 0:00a3c3f5a8f0 698 * @param direction The direction of rotation.
nucleosam 0:00a3c3f5a8f0 699 * @param speed in steps/s.
nucleosam 0:00a3c3f5a8f0 700 * @retval One if the device has an alarm flag set (low logic level on flag output),
nucleosam 0:00a3c3f5a8f0 701 * otherwise zero
nucleosam 0:00a3c3f5a8f0 702 */
nucleosam 0:00a3c3f5a8f0 703 virtual void GoUntil(motorAction_t action, direction_t direction, float speed)
nucleosam 0:00a3c3f5a8f0 704 {
nucleosam 0:00a3c3f5a8f0 705 Powerstep01_CmdGoUntil(action,
nucleosam 0:00a3c3f5a8f0 706 (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),
nucleosam 0:00a3c3f5a8f0 707 Speed_Steps_s_to_RegVal(speed));
nucleosam 0:00a3c3f5a8f0 708 }
nucleosam 0:00a3c3f5a8f0 709
nucleosam 0:00a3c3f5a8f0 710 /**
nucleosam 0:00a3c3f5a8f0 711 * @brief Checks if the device is busy
nucleosam 0:00a3c3f5a8f0 712 * by reading the Busy flag bit ot its status Register
nucleosam 0:00a3c3f5a8f0 713 * This operation clears the status register
nucleosam 0:00a3c3f5a8f0 714 * @retval true if device is busy, false zero
nucleosam 0:00a3c3f5a8f0 715 */
nucleosam 0:00a3c3f5a8f0 716 virtual bool IsDeviceBusy(void)
nucleosam 0:00a3c3f5a8f0 717 {
nucleosam 0:00a3c3f5a8f0 718 return Powerstep01_IsDeviceBusy();
nucleosam 0:00a3c3f5a8f0 719 }
nucleosam 0:00a3c3f5a8f0 720
nucleosam 0:00a3c3f5a8f0 721 /**
nucleosam 0:00a3c3f5a8f0 722 * @brief Put commands in queue before synchronous sending
nucleosam 0:00a3c3f5a8f0 723 * done by calling SendQueuedCommands.
nucleosam 0:00a3c3f5a8f0 724 * Any call to functions that use the SPI between the calls of
nucleosam 0:00a3c3f5a8f0 725 * QueueCommands and SendQueuedCommands
nucleosam 0:00a3c3f5a8f0 726 * will corrupt the queue.
nucleosam 0:00a3c3f5a8f0 727 * A command for each device of the daisy chain must be
nucleosam 0:00a3c3f5a8f0 728 * specified before calling SendQueuedCommands.
nucleosam 0:00a3c3f5a8f0 729 * @param command Command to queue (all Powerstep01 commmands
nucleosam 0:00a3c3f5a8f0 730 * except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
nucleosam 0:00a3c3f5a8f0 731 * POWERSTEP01_GET_STATUS).
nucleosam 0:00a3c3f5a8f0 732 * @param value argument of the command to queue.
nucleosam 0:00a3c3f5a8f0 733 * @retval None.
nucleosam 0:00a3c3f5a8f0 734 */
nucleosam 0:00a3c3f5a8f0 735 virtual void QueueCommands(uint8_t command, int32_t value)
nucleosam 0:00a3c3f5a8f0 736 {
nucleosam 0:00a3c3f5a8f0 737 Powerstep01_QueueCommands(command, value);
nucleosam 0:00a3c3f5a8f0 738 }
nucleosam 0:00a3c3f5a8f0 739
nucleosam 0:00a3c3f5a8f0 740 /**
nucleosam 0:00a3c3f5a8f0 741 * @brief Reading the Status Register.
nucleosam 0:00a3c3f5a8f0 742 * @param None.
nucleosam 0:00a3c3f5a8f0 743 * @retval None.
nucleosam 0:00a3c3f5a8f0 744 * @note The Status Register's flags are not cleared, contrary to GetStatus().
nucleosam 0:00a3c3f5a8f0 745 */
nucleosam 0:00a3c3f5a8f0 746 virtual uint16_t ReadStatusRegister(void)
nucleosam 0:00a3c3f5a8f0 747 {
nucleosam 0:00a3c3f5a8f0 748 return Powerstep01_ReadStatusRegister();
nucleosam 0:00a3c3f5a8f0 749 }
nucleosam 0:00a3c3f5a8f0 750
nucleosam 0:00a3c3f5a8f0 751 /**
nucleosam 0:00a3c3f5a8f0 752 * @brief Issues PowerStep01 Release SW command.
nucleosam 0:00a3c3f5a8f0 753 * @param action type of action to undertake when the SW
nucleosam 0:00a3c3f5a8f0 754 * input is forced high (ACTION_RESET or ACTION_COPY).
nucleosam 0:00a3c3f5a8f0 755 * @param direction The direction of rotation.
nucleosam 0:00a3c3f5a8f0 756 * @param speed in steps/s.
nucleosam 0:00a3c3f5a8f0 757 * @retval One if the device has an alarm flag set (low logic level on flag output),
nucleosam 0:00a3c3f5a8f0 758 * otherwise zero
nucleosam 0:00a3c3f5a8f0 759 */
nucleosam 0:00a3c3f5a8f0 760 virtual void ReleaseSw(motorAction_t action, direction_t direction)
nucleosam 0:00a3c3f5a8f0 761 {
nucleosam 0:00a3c3f5a8f0 762 Powerstep01_CmdReleaseSw(action,
nucleosam 0:00a3c3f5a8f0 763 (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
nucleosam 0:00a3c3f5a8f0 764 }
nucleosam 0:00a3c3f5a8f0 765
nucleosam 0:00a3c3f5a8f0 766 /**
nucleosam 0:00a3c3f5a8f0 767 * @brief Issues PowerStep01 Reset Device command.
nucleosam 0:00a3c3f5a8f0 768 * @param None.
nucleosam 0:00a3c3f5a8f0 769 * @retval None.
nucleosam 0:00a3c3f5a8f0 770 */
nucleosam 0:00a3c3f5a8f0 771 virtual void ResetCommand(void)
nucleosam 0:00a3c3f5a8f0 772 {
nucleosam 0:00a3c3f5a8f0 773 Powerstep01_CmdResetDevice();
nucleosam 0:00a3c3f5a8f0 774 }
nucleosam 0:00a3c3f5a8f0 775
nucleosam 0:00a3c3f5a8f0 776 /**
nucleosam 0:00a3c3f5a8f0 777 * @brief Issues PowerStep01 ResetPos command.
nucleosam 0:00a3c3f5a8f0 778 * @param None.
nucleosam 0:00a3c3f5a8f0 779 * @retval None.
nucleosam 0:00a3c3f5a8f0 780 * @note Same effect as SetHome().
nucleosam 0:00a3c3f5a8f0 781 */
nucleosam 0:00a3c3f5a8f0 782 virtual void ResetPosition(void)
nucleosam 0:00a3c3f5a8f0 783 {
nucleosam 0:00a3c3f5a8f0 784 Powerstep01_CmdResetPos();
nucleosam 0:00a3c3f5a8f0 785 }
nucleosam 0:00a3c3f5a8f0 786
nucleosam 0:00a3c3f5a8f0 787 /**
nucleosam 0:00a3c3f5a8f0 788 * @brief Sends commands stored previously in the queue by QueueCommands.
nucleosam 0:00a3c3f5a8f0 789 * @param None.
nucleosam 0:00a3c3f5a8f0 790 * @retval None.
nucleosam 0:00a3c3f5a8f0 791 */
nucleosam 0:00a3c3f5a8f0 792 virtual void SendQueuedCommands(void)
nucleosam 0:00a3c3f5a8f0 793 {
nucleosam 0:00a3c3f5a8f0 794 Powerstep01_SendQueuedCommands();
nucleosam 0:00a3c3f5a8f0 795 }
nucleosam 0:00a3c3f5a8f0 796
nucleosam 0:00a3c3f5a8f0 797 /**
nucleosam 0:00a3c3f5a8f0 798 * @brief Enable the step clock mode.
nucleosam 0:00a3c3f5a8f0 799 * @param frequency the frequency of PWM.
nucleosam 0:00a3c3f5a8f0 800 * @retval None.
nucleosam 0:00a3c3f5a8f0 801 */
nucleosam 0:00a3c3f5a8f0 802 virtual void StepClockModeEnable(direction_t direction)
nucleosam 0:00a3c3f5a8f0 803 {
nucleosam 0:00a3c3f5a8f0 804 Powerstep01_CmdStepClock((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
nucleosam 0:00a3c3f5a8f0 805 }
nucleosam 0:00a3c3f5a8f0 806
nucleosam 0:00a3c3f5a8f0 807 /**
nucleosam 0:00a3c3f5a8f0 808 * @brief Setting the frequency of PWM.
nucleosam 0:00a3c3f5a8f0 809 * The frequency controls directly the speed of the device.
nucleosam 0:00a3c3f5a8f0 810 * @param frequency the frequency of PWM.
nucleosam 0:00a3c3f5a8f0 811 * @retval None.
nucleosam 0:00a3c3f5a8f0 812 */
nucleosam 0:00a3c3f5a8f0 813 virtual void StepClockStart(uint16_t frequency)
nucleosam 0:00a3c3f5a8f0 814 {
nucleosam 0:00a3c3f5a8f0 815 /* Computing the period of PWM. */
nucleosam 0:00a3c3f5a8f0 816 double period = 1.0f / frequency;
nucleosam 0:00a3c3f5a8f0 817
nucleosam 0:00a3c3f5a8f0 818 /* Setting the period and the duty-cycle of PWM. */
nucleosam 0:00a3c3f5a8f0 819 pwm.period(period);
nucleosam 0:00a3c3f5a8f0 820 pwm.write(0.5f);
nucleosam 0:00a3c3f5a8f0 821 }
nucleosam 0:00a3c3f5a8f0 822
nucleosam 0:00a3c3f5a8f0 823 /**
nucleosam 0:00a3c3f5a8f0 824 * @brief Stopping the PWM.
nucleosam 0:00a3c3f5a8f0 825 * @param None.
nucleosam 0:00a3c3f5a8f0 826 * @retval None.
nucleosam 0:00a3c3f5a8f0 827 */
nucleosam 0:00a3c3f5a8f0 828 virtual void StepClockStop(void)
nucleosam 0:00a3c3f5a8f0 829 {
nucleosam 0:00a3c3f5a8f0 830 pwm.write(0.0f);
nucleosam 0:00a3c3f5a8f0 831 }
nucleosam 0:00a3c3f5a8f0 832
nucleosam 0:00a3c3f5a8f0 833 /**
nucleosam 0:00a3c3f5a8f0 834 * @brief Public static functions
nucleosam 0:00a3c3f5a8f0 835 */
nucleosam 0:00a3c3f5a8f0 836
nucleosam 0:00a3c3f5a8f0 837 static uint8_t GetNbDevices(void)
nucleosam 0:00a3c3f5a8f0 838 {
nucleosam 0:00a3c3f5a8f0 839 return numberOfDevices;
nucleosam 0:00a3c3f5a8f0 840 }
nucleosam 0:00a3c3f5a8f0 841
nucleosam 0:00a3c3f5a8f0 842 /**
nucleosam 0:00a3c3f5a8f0 843 * @brief To and from register parameter conversion functions
nucleosam 0:00a3c3f5a8f0 844 */
nucleosam 0:00a3c3f5a8f0 845
nucleosam 0:00a3c3f5a8f0 846 /**********************************************************
nucleosam 0:00a3c3f5a8f0 847 * @brief Convert the float formatted acceleration or
nucleosam 0:00a3c3f5a8f0 848 * deceleration into respectively an ACC or DEC register value
nucleosam 0:00a3c3f5a8f0 849 * @param[in] steps_s2 the acceleration or deceleration as
nucleosam 0:00a3c3f5a8f0 850 * steps/s^2, range 14.55 to 59590 steps/s^2
nucleosam 0:00a3c3f5a8f0 851 * @retval The acceleration or deceleration as steps/tick^2
nucleosam 0:00a3c3f5a8f0 852 **********************************************************/
nucleosam 0:00a3c3f5a8f0 853 static uint16_t AccDec_Steps_s2_to_RegVal(float steps_s2)
nucleosam 0:00a3c3f5a8f0 854 {
nucleosam 0:00a3c3f5a8f0 855 return ((uint16_t)(((float)(steps_s2)*0.068719476736f)+0.5f));
nucleosam 0:00a3c3f5a8f0 856 }
nucleosam 0:00a3c3f5a8f0 857
nucleosam 0:00a3c3f5a8f0 858 /**********************************************************
nucleosam 0:00a3c3f5a8f0 859 * @brief Convert the ACC or DEC register value into step/s^2
nucleosam 0:00a3c3f5a8f0 860 * @param[in] regVal The ACC or DEC register value
nucleosam 0:00a3c3f5a8f0 861 * @retval The speed as steps/s
nucleosam 0:00a3c3f5a8f0 862 **********************************************************/
nucleosam 0:00a3c3f5a8f0 863 static float AccDec_RegVal_to_Steps_s2(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 864 {
nucleosam 0:00a3c3f5a8f0 865 return (((float)(regVal))*14.5519152283f);
nucleosam 0:00a3c3f5a8f0 866 }
nucleosam 0:00a3c3f5a8f0 867
nucleosam 0:00a3c3f5a8f0 868 /**********************************************************
nucleosam 0:00a3c3f5a8f0 869 * @brief Converts BEMF compensation slope to values for ST_SLP,
nucleosam 0:00a3c3f5a8f0 870 * FN_SLP_ACC or FN_SLP_DEC register
nucleosam 0:00a3c3f5a8f0 871 * @param[in] percentage BEMF compensation slope percentage,
nucleosam 0:00a3c3f5a8f0 872 * range 0 to 0.4% (0.004) s/step
nucleosam 0:00a3c3f5a8f0 873 * @retval value for ST_SLP, FN_SLP_ACC or FN_SLP_DEC register
nucleosam 0:00a3c3f5a8f0 874 **********************************************************/
nucleosam 0:00a3c3f5a8f0 875 static uint8_t BEMFslope_Perc_to_RegVal(float percentage)
nucleosam 0:00a3c3f5a8f0 876 {
nucleosam 0:00a3c3f5a8f0 877 return ((uint8_t)(((float)(percentage)*637.5f)+0.5f));
nucleosam 0:00a3c3f5a8f0 878 }
nucleosam 0:00a3c3f5a8f0 879
nucleosam 0:00a3c3f5a8f0 880 /**********************************************************
nucleosam 0:00a3c3f5a8f0 881 * @brief Converts values from ST_SLP, FN_SLP_ACC or
nucleosam 0:00a3c3f5a8f0 882 * FN_SLP_DEC register to BEMF compensation slope percentage
nucleosam 0:00a3c3f5a8f0 883 * @param[in] regVal The ST_SLP, FN_SLP_ACC or FN_SLP_DEC
nucleosam 0:00a3c3f5a8f0 884 * register value
nucleosam 0:00a3c3f5a8f0 885 * @retval BEMF compensation slope percentage
nucleosam 0:00a3c3f5a8f0 886 **********************************************************/
nucleosam 0:00a3c3f5a8f0 887 static float BEMFslope_RegVal_to_Perc(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 888 {
nucleosam 0:00a3c3f5a8f0 889 return (((float)(regVal))*0.00156862745098f);
nucleosam 0:00a3c3f5a8f0 890 }
nucleosam 0:00a3c3f5a8f0 891
nucleosam 0:00a3c3f5a8f0 892 /**********************************************************
nucleosam 0:00a3c3f5a8f0 893 * @brief Convert the float formatted speed into a FS_SPD
nucleosam 0:00a3c3f5a8f0 894 * register value
nucleosam 0:00a3c3f5a8f0 895 * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
nucleosam 0:00a3c3f5a8f0 896 * @retval The speed as steps/tick
nucleosam 0:00a3c3f5a8f0 897 **********************************************************/
nucleosam 0:00a3c3f5a8f0 898 static uint16_t FSSpd_Steps_s_to_RegVal(float steps_s)
nucleosam 0:00a3c3f5a8f0 899 {
nucleosam 0:00a3c3f5a8f0 900 return ((uint16_t)((float)(steps_s)*0.065536f));
nucleosam 0:00a3c3f5a8f0 901 }
nucleosam 0:00a3c3f5a8f0 902
nucleosam 0:00a3c3f5a8f0 903 /**********************************************************
nucleosam 0:00a3c3f5a8f0 904 * @brief Convert the FS_SPD register value into step/s
nucleosam 0:00a3c3f5a8f0 905 * @param[in] regVal The FS_SPD register value
nucleosam 0:00a3c3f5a8f0 906 * @retval The full Step speed as steps/s
nucleosam 0:00a3c3f5a8f0 907 **********************************************************/
nucleosam 0:00a3c3f5a8f0 908 static float FSSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 909 {
nucleosam 0:00a3c3f5a8f0 910 return (((float)regVal+0.999f)*15.258789f);
nucleosam 0:00a3c3f5a8f0 911 }
nucleosam 0:00a3c3f5a8f0 912
nucleosam 0:00a3c3f5a8f0 913 /**********************************************************
nucleosam 0:00a3c3f5a8f0 914 * @brief Convert the float formatted speed into a INT_SPEED
nucleosam 0:00a3c3f5a8f0 915 * register value
nucleosam 0:00a3c3f5a8f0 916 * @param[in] steps_s the speed as steps/s, range 0 to 976.5 steps/s
nucleosam 0:00a3c3f5a8f0 917 * @retval The intersect speed as steps/tick
nucleosam 0:00a3c3f5a8f0 918 **********************************************************/
nucleosam 0:00a3c3f5a8f0 919 static uint16_t IntSpd_Steps_s_to_RegVal(float steps_s)
nucleosam 0:00a3c3f5a8f0 920 {
nucleosam 0:00a3c3f5a8f0 921 return ((uint16_t)(((float)(steps_s)*16.777216f)+0.5f));
nucleosam 0:00a3c3f5a8f0 922 }
nucleosam 0:00a3c3f5a8f0 923
nucleosam 0:00a3c3f5a8f0 924 /**********************************************************
nucleosam 0:00a3c3f5a8f0 925 * @brief Convert the INT_SPEED register value into step/s
nucleosam 0:00a3c3f5a8f0 926 * @param[in] regVal The INT_SPEED register value
nucleosam 0:00a3c3f5a8f0 927 * @retval The speed as steps/s
nucleosam 0:00a3c3f5a8f0 928 **********************************************************/
nucleosam 0:00a3c3f5a8f0 929 static float IntSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 930 {
nucleosam 0:00a3c3f5a8f0 931 return (((float)(regVal))*0.0596045f);
nucleosam 0:00a3c3f5a8f0 932 }
nucleosam 0:00a3c3f5a8f0 933
nucleosam 0:00a3c3f5a8f0 934 /**********************************************************
nucleosam 0:00a3c3f5a8f0 935 * @brief Convert the float formatted thermal compensation
nucleosam 0:00a3c3f5a8f0 936 * factor into a K_THEM register value
nucleosam 0:00a3c3f5a8f0 937 * @param[in] compFactor the float formatted thermal
nucleosam 0:00a3c3f5a8f0 938 * compensation factor, range 1 to 1.46875
nucleosam 0:00a3c3f5a8f0 939 * @retval value for K_THERM register
nucleosam 0:00a3c3f5a8f0 940 **********************************************************/
nucleosam 0:00a3c3f5a8f0 941 static uint8_t KTherm_Comp_to_RegVal(float compFactor)
nucleosam 0:00a3c3f5a8f0 942 {
nucleosam 0:00a3c3f5a8f0 943 return ((uint8_t)((((float)(compFactor)-1.0f)*32.0f)+0.5f));
nucleosam 0:00a3c3f5a8f0 944 }
nucleosam 0:00a3c3f5a8f0 945
nucleosam 0:00a3c3f5a8f0 946 /**********************************************************
nucleosam 0:00a3c3f5a8f0 947 * @brief Convert the K_THERM register value into a float
nucleosam 0:00a3c3f5a8f0 948 * formatted thermal compensation factor
nucleosam 0:00a3c3f5a8f0 949 * @param[in] regVal The K_THERM register value
nucleosam 0:00a3c3f5a8f0 950 * @retval The float formatted thermal compensation factor
nucleosam 0:00a3c3f5a8f0 951 **********************************************************/
nucleosam 0:00a3c3f5a8f0 952 static float KTherm_RegVal_to_Comp(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 953 {
nucleosam 0:00a3c3f5a8f0 954 return (((float)(regVal))*0.03125f+1);
nucleosam 0:00a3c3f5a8f0 955 }
nucleosam 0:00a3c3f5a8f0 956
nucleosam 0:00a3c3f5a8f0 957 /**********************************************************
nucleosam 0:00a3c3f5a8f0 958 * @brief Converts voltage in percentage to values for KVAL_RUN,
nucleosam 0:00a3c3f5a8f0 959 * KVAL_HOLD, KVAL_ACC or KVAL_DEC register
nucleosam 0:00a3c3f5a8f0 960 * @param[in] percentage percentage of the power supply voltage
nucleosam 0:00a3c3f5a8f0 961 * applied to the motor windings, range 0.4% to 99.6%
nucleosam 0:00a3c3f5a8f0 962 * @retval value for KVAL_RUN, KVAL_HOLD, KVAL_ACC or
nucleosam 0:00a3c3f5a8f0 963 * KVAL_DEC register
nucleosam 0:00a3c3f5a8f0 964 * @note The voltage applied is sinusoidal
nucleosam 0:00a3c3f5a8f0 965 **********************************************************/
nucleosam 0:00a3c3f5a8f0 966 static uint8_t Kval_Perc_to_RegVal(float percentage)
nucleosam 0:00a3c3f5a8f0 967 {
nucleosam 0:00a3c3f5a8f0 968 return ((uint8_t)(((float)(percentage)*2.56f)+0.5f));
nucleosam 0:00a3c3f5a8f0 969 }
nucleosam 0:00a3c3f5a8f0 970
nucleosam 0:00a3c3f5a8f0 971 /**********************************************************
nucleosam 0:00a3c3f5a8f0 972 * @brief Converts values from KVAL_RUN, KVAL_HOLD, KVAL_ACC
nucleosam 0:00a3c3f5a8f0 973 * or KVAL_DEC register to percentage
nucleosam 0:00a3c3f5a8f0 974 * @param[in] regVal The KVAL_RUN, KVAL_HOLD, KVAL_ACC
nucleosam 0:00a3c3f5a8f0 975 * or KVAL_DEC register value
nucleosam 0:00a3c3f5a8f0 976 * @retval percentage of the power supply voltage applied to
nucleosam 0:00a3c3f5a8f0 977 * the motor windings
nucleosam 0:00a3c3f5a8f0 978 * @note The voltage applied is sinusoidal
nucleosam 0:00a3c3f5a8f0 979 **********************************************************/
nucleosam 0:00a3c3f5a8f0 980 static float Kval_RegVal_to_Perc(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 981 {
nucleosam 0:00a3c3f5a8f0 982 return (((float)(regVal))*0.390625f);
nucleosam 0:00a3c3f5a8f0 983 }
nucleosam 0:00a3c3f5a8f0 984
nucleosam 0:00a3c3f5a8f0 985 /**********************************************************
nucleosam 0:00a3c3f5a8f0 986 * @brief Convert the float formatted speed into a MAX_SPEED
nucleosam 0:00a3c3f5a8f0 987 * register value
nucleosam 0:00a3c3f5a8f0 988 * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
nucleosam 0:00a3c3f5a8f0 989 * @retval The speed as steps/tick
nucleosam 0:00a3c3f5a8f0 990 **********************************************************/
nucleosam 0:00a3c3f5a8f0 991 static uint16_t MaxSpd_Steps_s_to_RegVal(float steps_s)
nucleosam 0:00a3c3f5a8f0 992 {
nucleosam 0:00a3c3f5a8f0 993 return ((uint16_t)(((float)(steps_s)*0.065536f)+0.5f));
nucleosam 0:00a3c3f5a8f0 994 }
nucleosam 0:00a3c3f5a8f0 995
nucleosam 0:00a3c3f5a8f0 996 /**********************************************************
nucleosam 0:00a3c3f5a8f0 997 * @brief Convert the MAX_SPEED register value into step/s
nucleosam 0:00a3c3f5a8f0 998 * @param[in] regVal The MAX_SPEED register value
nucleosam 0:00a3c3f5a8f0 999 * @retval The speed as steps/s
nucleosam 0:00a3c3f5a8f0 1000 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1001 static float MaxSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 1002 {
nucleosam 0:00a3c3f5a8f0 1003 return (((float)(regVal))*15.258789f);
nucleosam 0:00a3c3f5a8f0 1004 }
nucleosam 0:00a3c3f5a8f0 1005
nucleosam 0:00a3c3f5a8f0 1006 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1007 * @brief Convert the float formatted speed into a MIN_SPEED
nucleosam 0:00a3c3f5a8f0 1008 * register value
nucleosam 0:00a3c3f5a8f0 1009 * @param[in] steps_s the speed as steps/s, range 0 to 976.3 steps/s
nucleosam 0:00a3c3f5a8f0 1010 * @retval The speed as steps/tick
nucleosam 0:00a3c3f5a8f0 1011 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1012 static uint16_t MinSpd_Steps_s_to_RegVal(float steps_s)
nucleosam 0:00a3c3f5a8f0 1013 {
nucleosam 0:00a3c3f5a8f0 1014 return ((uint16_t)(((float)(steps_s)*4.194304f)+0.5f));
nucleosam 0:00a3c3f5a8f0 1015 }
nucleosam 0:00a3c3f5a8f0 1016
nucleosam 0:00a3c3f5a8f0 1017 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1018 * @brief Convert the MIN_SPEED register value into step/s
nucleosam 0:00a3c3f5a8f0 1019 * @param[in] regVal The MIN_SPEED register value
nucleosam 0:00a3c3f5a8f0 1020 * @retval The speed as steps/s
nucleosam 0:00a3c3f5a8f0 1021 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1022 static float MinSpd_RegVal_to_Steps_s(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 1023 {
nucleosam 0:00a3c3f5a8f0 1024 return (((float)(regVal))*0.238418579f);
nucleosam 0:00a3c3f5a8f0 1025 }
nucleosam 0:00a3c3f5a8f0 1026
nucleosam 0:00a3c3f5a8f0 1027 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1028 * @brief Convert the float formatted speed into a SPEED
nucleosam 0:00a3c3f5a8f0 1029 * register value
nucleosam 0:00a3c3f5a8f0 1030 * @param[in] steps_s the speed as steps/s, range 0 to 15625 steps/s
nucleosam 0:00a3c3f5a8f0 1031 * @retval The speed as steps/tick
nucleosam 0:00a3c3f5a8f0 1032 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1033 static uint32_t Speed_Steps_s_to_RegVal(float steps_s)
nucleosam 0:00a3c3f5a8f0 1034 {
nucleosam 0:00a3c3f5a8f0 1035 return ((uint32_t)(((float)(steps_s)*67.108864f)+0.5f));
nucleosam 0:00a3c3f5a8f0 1036 }
nucleosam 0:00a3c3f5a8f0 1037
nucleosam 0:00a3c3f5a8f0 1038 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1039 * @brief Convert the SPEED register value into step/s
nucleosam 0:00a3c3f5a8f0 1040 * @param[in] regVal The SPEED register value
nucleosam 0:00a3c3f5a8f0 1041 * @retval The speed as steps/s
nucleosam 0:00a3c3f5a8f0 1042 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1043 static float Speed_RegVal_to_Steps_s(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 1044 {
nucleosam 0:00a3c3f5a8f0 1045 return (((float)(regVal))*0.01490116119f);
nucleosam 0:00a3c3f5a8f0 1046 }
nucleosam 0:00a3c3f5a8f0 1047
nucleosam 0:00a3c3f5a8f0 1048 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1049 * @brief Converts STALL or OCD Threshold voltage in mV to
nucleosam 0:00a3c3f5a8f0 1050 * values for STALL_TH or OCD_TH register
nucleosam 0:00a3c3f5a8f0 1051 * @param[in] mV voltage in mV, range 31.25mV to 1000mV
nucleosam 0:00a3c3f5a8f0 1052 * @retval value for STALL_TH or OCD_TH register
nucleosam 0:00a3c3f5a8f0 1053 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1054 static uint8_t StallOcd_Th_to_RegVal(float mV)
nucleosam 0:00a3c3f5a8f0 1055 {
nucleosam 0:00a3c3f5a8f0 1056 return ((uint8_t)((((float)(mV)-31.25f)*0.032f)+0.5f));
nucleosam 0:00a3c3f5a8f0 1057 }
nucleosam 0:00a3c3f5a8f0 1058
nucleosam 0:00a3c3f5a8f0 1059 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1060 * @brief Converts values from STALL_TH or OCD_TH register
nucleosam 0:00a3c3f5a8f0 1061 * to mV
nucleosam 0:00a3c3f5a8f0 1062 * @param[in] regVal The STALL_TH or OCD_TH register value
nucleosam 0:00a3c3f5a8f0 1063 * @retval voltage in mV
nucleosam 0:00a3c3f5a8f0 1064 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1065 static float StallOcd_RegVal_to_Th(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 1066 {
nucleosam 0:00a3c3f5a8f0 1067 return (((float)(regVal+1))*31.25f);
nucleosam 0:00a3c3f5a8f0 1068 }
nucleosam 0:00a3c3f5a8f0 1069
nucleosam 0:00a3c3f5a8f0 1070 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1071 * @brief Converts voltage in mV to values for TVAL_RUN,
nucleosam 0:00a3c3f5a8f0 1072 * TVAL_HOLD, TVAL_ACC or TVAL_DEC register
nucleosam 0:00a3c3f5a8f0 1073 * @param[in] voltage_mV voltage in mV, range 7.8mV to 1000mV
nucleosam 0:00a3c3f5a8f0 1074 * @retval value for TVAL_RUN, TVAL_HOLD, TVAL_ACC or
nucleosam 0:00a3c3f5a8f0 1075 * TVAL_DEC register
nucleosam 0:00a3c3f5a8f0 1076 * @note The voltage corresponds to a peak output current
nucleosam 0:00a3c3f5a8f0 1077 * accross the external sense power resistor
nucleosam 0:00a3c3f5a8f0 1078 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1079 static uint8_t Tval_Current_to_RegVal(float voltage_mV)
nucleosam 0:00a3c3f5a8f0 1080 {
nucleosam 0:00a3c3f5a8f0 1081 return ((uint8_t)((((float)(voltage_mV)-7.8125f)*0.128f)+0.5f));
nucleosam 0:00a3c3f5a8f0 1082 }
nucleosam 0:00a3c3f5a8f0 1083
nucleosam 0:00a3c3f5a8f0 1084 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1085 * @brief Converts values from TVAL_RUN, TVAL_HOLD, TVAL_ACC
nucleosam 0:00a3c3f5a8f0 1086 * or TVAL_DEC register to mV
nucleosam 0:00a3c3f5a8f0 1087 * @param[in] regVal The TVAL_RUN, TVAL_HOLD, TVAL_ACC
nucleosam 0:00a3c3f5a8f0 1088 * or TVAL_DEC register value
nucleosam 0:00a3c3f5a8f0 1089 * @retval voltage in mV
nucleosam 0:00a3c3f5a8f0 1090 * @note The voltage corresponds to a peak output current
nucleosam 0:00a3c3f5a8f0 1091 * accross the external sense power resistor
nucleosam 0:00a3c3f5a8f0 1092 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1093 static float Tval_RegVal_to_Current(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 1094 {
nucleosam 0:00a3c3f5a8f0 1095 return (((float)(regVal+1))*7.8125f);
nucleosam 0:00a3c3f5a8f0 1096 }
nucleosam 0:00a3c3f5a8f0 1097
nucleosam 0:00a3c3f5a8f0 1098 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1099 * @brief Convert time in us to values for TON_MIN register
nucleosam 0:00a3c3f5a8f0 1100 * @param[in] tmin_us time in us, range 0.5us to 64us
nucleosam 0:00a3c3f5a8f0 1101 * @retval value for TON_MIN register
nucleosam 0:00a3c3f5a8f0 1102 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1103 static uint8_t Tmin_Time_to_RegVal(float tmin_us)
nucleosam 0:00a3c3f5a8f0 1104 {
nucleosam 0:00a3c3f5a8f0 1105 return ((uint8_t)((((float)(tmin_us)-0.5f)*2.0f)+0.5f));
nucleosam 0:00a3c3f5a8f0 1106 }
nucleosam 0:00a3c3f5a8f0 1107
nucleosam 0:00a3c3f5a8f0 1108 /**********************************************************
nucleosam 0:00a3c3f5a8f0 1109 * @brief Convert values for TON_MIN or TOFF_MIN register to time in us
nucleosam 0:00a3c3f5a8f0 1110 * @param[in] regVal The TON_MIN or TOFF_MIN register value
nucleosam 0:00a3c3f5a8f0 1111 * @retval time in us
nucleosam 0:00a3c3f5a8f0 1112 **********************************************************/
nucleosam 0:00a3c3f5a8f0 1113 static float Tmin_RegVal_to_Time(uint32_t regVal)
nucleosam 0:00a3c3f5a8f0 1114 {
nucleosam 0:00a3c3f5a8f0 1115 return (((float)(regVal+1))*0.5f);
nucleosam 0:00a3c3f5a8f0 1116 }
nucleosam 0:00a3c3f5a8f0 1117
nucleosam 0:00a3c3f5a8f0 1118 /*** Public Interrupt Related Methods ***/
nucleosam 0:00a3c3f5a8f0 1119
nucleosam 0:00a3c3f5a8f0 1120 /* ACTION 6 --------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1121 * Implement here interrupt related methods, if any. *
nucleosam 0:00a3c3f5a8f0 1122 * Note that interrupt handling is platform dependent, e.g.: *
nucleosam 0:00a3c3f5a8f0 1123 * + mbed: *
nucleosam 0:00a3c3f5a8f0 1124 * InterruptIn feature_irq(pin); //Interrupt object. *
nucleosam 0:00a3c3f5a8f0 1125 * feature_irq.rise(callback); //Attach a callback. *
nucleosam 0:00a3c3f5a8f0 1126 * feature_irq.mode(PullNone); //Set interrupt mode. *
nucleosam 0:00a3c3f5a8f0 1127 * feature_irq.enable_irq(); //Enable interrupt. *
nucleosam 0:00a3c3f5a8f0 1128 * feature_irq.disable_irq(); //Disable interrupt. *
nucleosam 0:00a3c3f5a8f0 1129 * + Arduino: *
nucleosam 0:00a3c3f5a8f0 1130 * attachInterrupt(pin, callback, RISING); //Attach a callback. *
nucleosam 0:00a3c3f5a8f0 1131 * detachInterrupt(pin); //Detach a callback. *
nucleosam 0:00a3c3f5a8f0 1132 * *
nucleosam 0:00a3c3f5a8f0 1133 * Example (mbed): *
nucleosam 0:00a3c3f5a8f0 1134 * void AttachFeatureIRQ(void (*fptr) (void)) *
nucleosam 0:00a3c3f5a8f0 1135 * { *
nucleosam 0:00a3c3f5a8f0 1136 * feature_irq.rise(fptr); *
nucleosam 0:00a3c3f5a8f0 1137 * } *
nucleosam 0:00a3c3f5a8f0 1138 * *
nucleosam 0:00a3c3f5a8f0 1139 * void EnableFeatureIRQ(void) *
nucleosam 0:00a3c3f5a8f0 1140 * { *
nucleosam 0:00a3c3f5a8f0 1141 * feature_irq.enable_irq(); *
nucleosam 0:00a3c3f5a8f0 1142 * } *
nucleosam 0:00a3c3f5a8f0 1143 * *
nucleosam 0:00a3c3f5a8f0 1144 * void DisableFeatureIRQ(void) *
nucleosam 0:00a3c3f5a8f0 1145 * { *
nucleosam 0:00a3c3f5a8f0 1146 * feature_irq.disable_irq(); *
nucleosam 0:00a3c3f5a8f0 1147 * } *
nucleosam 0:00a3c3f5a8f0 1148 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1149 /**
nucleosam 0:00a3c3f5a8f0 1150 * @brief Attaching an interrupt handler to the FLAG interrupt.
nucleosam 0:00a3c3f5a8f0 1151 * @param fptr An interrupt handler.
nucleosam 0:00a3c3f5a8f0 1152 * @retval None.
nucleosam 0:00a3c3f5a8f0 1153 */
nucleosam 0:00a3c3f5a8f0 1154 void AttachFlagIRQ(void (*fptr)(void))
nucleosam 0:00a3c3f5a8f0 1155 {
nucleosam 0:00a3c3f5a8f0 1156 flag_irq.fall(fptr);
nucleosam 0:00a3c3f5a8f0 1157 }
nucleosam 0:00a3c3f5a8f0 1158
nucleosam 0:00a3c3f5a8f0 1159 /**
nucleosam 0:00a3c3f5a8f0 1160 * @brief Enabling the FLAG interrupt handling.
nucleosam 0:00a3c3f5a8f0 1161 * @param None.
nucleosam 0:00a3c3f5a8f0 1162 * @retval None.
nucleosam 0:00a3c3f5a8f0 1163 */
nucleosam 0:00a3c3f5a8f0 1164 void EnableFlagIRQ(void)
nucleosam 0:00a3c3f5a8f0 1165 {
nucleosam 0:00a3c3f5a8f0 1166 flag_irq.enable_irq();
nucleosam 0:00a3c3f5a8f0 1167 }
nucleosam 0:00a3c3f5a8f0 1168
nucleosam 0:00a3c3f5a8f0 1169 /**
nucleosam 0:00a3c3f5a8f0 1170 * @brief Disabling the FLAG interrupt handling.
nucleosam 0:00a3c3f5a8f0 1171 * @param None.
nucleosam 0:00a3c3f5a8f0 1172 * @retval None.
nucleosam 0:00a3c3f5a8f0 1173 */
nucleosam 0:00a3c3f5a8f0 1174 void DisableFlagIRQ(void)
nucleosam 0:00a3c3f5a8f0 1175 {
nucleosam 0:00a3c3f5a8f0 1176 flag_irq.disable_irq();
nucleosam 0:00a3c3f5a8f0 1177 }
nucleosam 0:00a3c3f5a8f0 1178
nucleosam 0:00a3c3f5a8f0 1179 /**
nucleosam 0:00a3c3f5a8f0 1180 * @brief Attaching an interrupt handler to the BUSY interrupt.
nucleosam 0:00a3c3f5a8f0 1181 * @param fptr An interrupt handler.
nucleosam 0:00a3c3f5a8f0 1182 * @retval None.
nucleosam 0:00a3c3f5a8f0 1183 */
nucleosam 0:00a3c3f5a8f0 1184 void AttachBusyIRQ(void (*fptr)(void))
nucleosam 0:00a3c3f5a8f0 1185 {
nucleosam 0:00a3c3f5a8f0 1186 busy_irq.fall(fptr);
nucleosam 0:00a3c3f5a8f0 1187 }
nucleosam 0:00a3c3f5a8f0 1188
nucleosam 0:00a3c3f5a8f0 1189 /**
nucleosam 0:00a3c3f5a8f0 1190 * @brief Enabling the BUSY interrupt handling.
nucleosam 0:00a3c3f5a8f0 1191 * @param None.
nucleosam 0:00a3c3f5a8f0 1192 * @retval None.
nucleosam 0:00a3c3f5a8f0 1193 */
nucleosam 0:00a3c3f5a8f0 1194 void EnableBusyIRQ(void)
nucleosam 0:00a3c3f5a8f0 1195 {
nucleosam 0:00a3c3f5a8f0 1196 busy_irq.enable_irq();
nucleosam 0:00a3c3f5a8f0 1197 }
nucleosam 0:00a3c3f5a8f0 1198
nucleosam 0:00a3c3f5a8f0 1199 /**
nucleosam 0:00a3c3f5a8f0 1200 * @brief Disabling the BUSY interrupt handling.
nucleosam 0:00a3c3f5a8f0 1201 * @param None.
nucleosam 0:00a3c3f5a8f0 1202 * @retval None.
nucleosam 0:00a3c3f5a8f0 1203 */
nucleosam 0:00a3c3f5a8f0 1204 void DisableBusyIRQ(void)
nucleosam 0:00a3c3f5a8f0 1205 {
nucleosam 0:00a3c3f5a8f0 1206 busy_irq.disable_irq();
nucleosam 0:00a3c3f5a8f0 1207 }
nucleosam 0:00a3c3f5a8f0 1208
nucleosam 0:00a3c3f5a8f0 1209 protected:
nucleosam 0:00a3c3f5a8f0 1210
nucleosam 0:00a3c3f5a8f0 1211 /*** Protected Component Related Methods ***/
nucleosam 0:00a3c3f5a8f0 1212
nucleosam 0:00a3c3f5a8f0 1213 /* ACTION 7 --------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1214 * Declare here the component's specific methods. *
nucleosam 0:00a3c3f5a8f0 1215 * They should be: *
nucleosam 0:00a3c3f5a8f0 1216 * + Methods with the same name of the C component's virtual table's *
nucleosam 0:00a3c3f5a8f0 1217 * functions (1); *
nucleosam 0:00a3c3f5a8f0 1218 * + Methods with the same name of the C component's extended virtual *
nucleosam 0:00a3c3f5a8f0 1219 * table's functions, if any (2); *
nucleosam 0:00a3c3f5a8f0 1220 * + Helper methods, if any, like functions declared in the component's *
nucleosam 0:00a3c3f5a8f0 1221 * source files but not pointed by the component's virtual table (3). *
nucleosam 0:00a3c3f5a8f0 1222 * *
nucleosam 0:00a3c3f5a8f0 1223 * Example: *
nucleosam 0:00a3c3f5a8f0 1224 * Status_t COMPONENT_GetValue(float *f); //(1) *
nucleosam 0:00a3c3f5a8f0 1225 * Status_t COMPONENT_EnableFeature(void); //(2) *
nucleosam 0:00a3c3f5a8f0 1226 * Status_t COMPONENT_ComputeAverage(void); //(3) *
nucleosam 0:00a3c3f5a8f0 1227 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1228 Status_t Powerstep01_Init(void *init);
nucleosam 0:00a3c3f5a8f0 1229 Status_t Powerstep01_ReadID(uint8_t *id);
nucleosam 0:00a3c3f5a8f0 1230 void Powerstep01_AttachErrorHandler(void (*callback)(uint16_t error));
nucleosam 0:00a3c3f5a8f0 1231 uint8_t Powerstep01_CheckBusyHw(void);
nucleosam 0:00a3c3f5a8f0 1232 uint8_t Powerstep01_CheckStatusHw(void);
nucleosam 0:00a3c3f5a8f0 1233 uint16_t Powerstep01_CmdGetStatus(void);
nucleosam 0:00a3c3f5a8f0 1234 void Powerstep01_CmdGoHome(void);
nucleosam 0:00a3c3f5a8f0 1235 void Powerstep01_CmdGoMark(void);
nucleosam 0:00a3c3f5a8f0 1236 void Powerstep01_CmdGoTo(int32_t targetPosition);
nucleosam 0:00a3c3f5a8f0 1237 void Powerstep01_CmdGoToDir(motorDir_t direction, int32_t targetPosition);
nucleosam 0:00a3c3f5a8f0 1238 void Powerstep01_CmdGoUntil(motorAction_t action, motorDir_t direction, uint32_t speed);
nucleosam 0:00a3c3f5a8f0 1239 void Powerstep01_CmdHardHiZ(void);
nucleosam 0:00a3c3f5a8f0 1240 void Powerstep01_CmdHardStop(void);
nucleosam 0:00a3c3f5a8f0 1241 void Powerstep01_CmdMove(motorDir_t direction, uint32_t stepCount);
nucleosam 0:00a3c3f5a8f0 1242 void Powerstep01_CmdNop(void);
nucleosam 0:00a3c3f5a8f0 1243 void Powerstep01_CmdReleaseSw(motorAction_t action, motorDir_t direction);
nucleosam 0:00a3c3f5a8f0 1244 void Powerstep01_CmdResetDevice(void);
nucleosam 0:00a3c3f5a8f0 1245 void Powerstep01_CmdResetPos(void);
nucleosam 0:00a3c3f5a8f0 1246 void Powerstep01_CmdRun(motorDir_t direction, uint32_t speed);
nucleosam 0:00a3c3f5a8f0 1247 void Powerstep01_CmdSoftHiZ(void);
nucleosam 0:00a3c3f5a8f0 1248 void Powerstep01_CmdSoftStop(void);
nucleosam 0:00a3c3f5a8f0 1249 void Powerstep01_CmdStepClock(motorDir_t direction);
nucleosam 0:00a3c3f5a8f0 1250 void Powerstep01_ErrorHandler(uint16_t error);
nucleosam 0:00a3c3f5a8f0 1251 void Powerstep01_FetchAndClearAllStatus(void);
nucleosam 0:00a3c3f5a8f0 1252 uint16_t Powerstep01_GetFetchedStatus(void);
nucleosam 0:00a3c3f5a8f0 1253 uint8_t Powerstep01_GetFwVersion(void);
nucleosam 0:00a3c3f5a8f0 1254 int32_t Powerstep01_GetMark(void);
nucleosam 0:00a3c3f5a8f0 1255 int32_t Powerstep01_GetPosition(void);
nucleosam 0:00a3c3f5a8f0 1256 bool Powerstep01_IsDeviceBusy(void);
nucleosam 0:00a3c3f5a8f0 1257 uint16_t Powerstep01_ReadStatusRegister(void);
nucleosam 0:00a3c3f5a8f0 1258 void Powerstep01_SelectStepMode(motorStepMode_t stepMode);
nucleosam 0:00a3c3f5a8f0 1259 void Powerstep01_SetHome(void);
nucleosam 0:00a3c3f5a8f0 1260 void Powerstep01_SetMark(void);
nucleosam 0:00a3c3f5a8f0 1261 void Powerstep01_WaitForAllDevicesNotBusy(void);
nucleosam 0:00a3c3f5a8f0 1262 void Powerstep01_WaitWhileActive(void);
nucleosam 0:00a3c3f5a8f0 1263
nucleosam 0:00a3c3f5a8f0 1264 /**
nucleosam 0:00a3c3f5a8f0 1265 * @brief To and from register parameter conversion functions
nucleosam 0:00a3c3f5a8f0 1266 */
nucleosam 0:00a3c3f5a8f0 1267 int32_t Powerstep01_ConvertPosition(uint32_t abs_position_reg);
nucleosam 0:00a3c3f5a8f0 1268
nucleosam 0:00a3c3f5a8f0 1269 /**
nucleosam 0:00a3c3f5a8f0 1270 * @brief Functions to initialize the registers
nucleosam 0:00a3c3f5a8f0 1271 */
nucleosam 0:00a3c3f5a8f0 1272 void Powerstep01_SetDeviceParamsToGivenValues(powerstep01_Init_u_t *initPrm);
nucleosam 0:00a3c3f5a8f0 1273 void Powerstep01_SetRegisterToPredefinedValues(void);
nucleosam 0:00a3c3f5a8f0 1274
nucleosam 0:00a3c3f5a8f0 1275 /**
nucleosam 0:00a3c3f5a8f0 1276 * @brief Functions to get and set parameters using digital or analog values
nucleosam 0:00a3c3f5a8f0 1277 */
nucleosam 0:00a3c3f5a8f0 1278 uint32_t Powerstep01_CmdGetParam(powerstep01_Registers_t param);
nucleosam 0:00a3c3f5a8f0 1279 void Powerstep01_CmdSetParam(powerstep01_Registers_t param, uint32_t value);
nucleosam 0:00a3c3f5a8f0 1280 float Powerstep01_GetAnalogValue(powerstep01_Registers_t param);
nucleosam 0:00a3c3f5a8f0 1281 void Powerstep01_QueueCommands(uint8_t command, int32_t value);
nucleosam 0:00a3c3f5a8f0 1282 void Powerstep01_SendCommand(uint8_t command, uint32_t value);
nucleosam 0:00a3c3f5a8f0 1283 void Powerstep01_SendQueuedCommands(void);
nucleosam 0:00a3c3f5a8f0 1284 bool Powerstep01_SetAnalogValue(powerstep01_Registers_t param, float value);
nucleosam 0:00a3c3f5a8f0 1285 void Powerstep01_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
nucleosam 0:00a3c3f5a8f0 1286
nucleosam 0:00a3c3f5a8f0 1287 /**
nucleosam 0:00a3c3f5a8f0 1288 * @brief Rounding a floating point number to the nearest unsigned integer number.
nucleosam 0:00a3c3f5a8f0 1289 * @param f The floating point number.
nucleosam 0:00a3c3f5a8f0 1290 * @retval The nearest unsigned integer number.
nucleosam 0:00a3c3f5a8f0 1291 */
nucleosam 0:00a3c3f5a8f0 1292 int round(float f)
nucleosam 0:00a3c3f5a8f0 1293 {
nucleosam 0:00a3c3f5a8f0 1294 if (f >= 0)
nucleosam 0:00a3c3f5a8f0 1295 return (int) f + (f - (int) f < 0.5f ? 0 : 1);
nucleosam 0:00a3c3f5a8f0 1296 else
nucleosam 0:00a3c3f5a8f0 1297 return (int) f - (f - (int) f < -0.5f ? 1 : 0);
nucleosam 0:00a3c3f5a8f0 1298 }
nucleosam 0:00a3c3f5a8f0 1299
nucleosam 0:00a3c3f5a8f0 1300 /*** Component's I/O Methods ***/
nucleosam 0:00a3c3f5a8f0 1301
nucleosam 0:00a3c3f5a8f0 1302 /**
nucleosam 0:00a3c3f5a8f0 1303 * @brief Utility function to read data from Powerstep01.
nucleosam 0:00a3c3f5a8f0 1304 * @param[out] pBuffer pointer to the buffer to read data into.
nucleosam 0:00a3c3f5a8f0 1305 * @param NumBytesToRead number of bytes to read.
nucleosam 0:00a3c3f5a8f0 1306 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
nucleosam 0:00a3c3f5a8f0 1307 */
nucleosam 0:00a3c3f5a8f0 1308 Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
nucleosam 0:00a3c3f5a8f0 1309 {
nucleosam 0:00a3c3f5a8f0 1310 if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
nucleosam 0:00a3c3f5a8f0 1311 return COMPONENT_ERROR;
nucleosam 0:00a3c3f5a8f0 1312 return COMPONENT_OK;
nucleosam 0:00a3c3f5a8f0 1313 }
nucleosam 0:00a3c3f5a8f0 1314
nucleosam 0:00a3c3f5a8f0 1315 /**
nucleosam 0:00a3c3f5a8f0 1316 * @brief Utility function to write data to Powerstep01.
nucleosam 0:00a3c3f5a8f0 1317 * @param pBuffer pointer to the buffer of data to send.
nucleosam 0:00a3c3f5a8f0 1318 * @param NumBytesToWrite number of bytes to write.
nucleosam 0:00a3c3f5a8f0 1319 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
nucleosam 0:00a3c3f5a8f0 1320 */
nucleosam 0:00a3c3f5a8f0 1321 Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
nucleosam 0:00a3c3f5a8f0 1322 {
nucleosam 0:00a3c3f5a8f0 1323 if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
nucleosam 0:00a3c3f5a8f0 1324 return COMPONENT_ERROR;
nucleosam 0:00a3c3f5a8f0 1325 return COMPONENT_OK;
nucleosam 0:00a3c3f5a8f0 1326 }
nucleosam 0:00a3c3f5a8f0 1327
nucleosam 0:00a3c3f5a8f0 1328 /**
nucleosam 0:00a3c3f5a8f0 1329 * @brief Utility function to read and write data from/to Powerstep01 at the same time.
nucleosam 0:00a3c3f5a8f0 1330 * @param[out] pBufferToRead pointer to the buffer to read data into.
nucleosam 0:00a3c3f5a8f0 1331 * @param pBufferToWrite pointer to the buffer of data to send.
nucleosam 0:00a3c3f5a8f0 1332 * @param NumBytes number of bytes to read and write.
nucleosam 0:00a3c3f5a8f0 1333 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
nucleosam 0:00a3c3f5a8f0 1334 */
nucleosam 0:00a3c3f5a8f0 1335 Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
nucleosam 0:00a3c3f5a8f0 1336 {
nucleosam 0:00a3c3f5a8f0 1337 if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
nucleosam 0:00a3c3f5a8f0 1338 return COMPONENT_ERROR;
nucleosam 0:00a3c3f5a8f0 1339 return COMPONENT_OK;
nucleosam 0:00a3c3f5a8f0 1340 }
nucleosam 0:00a3c3f5a8f0 1341
nucleosam 0:00a3c3f5a8f0 1342 /* ACTION 8 --------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1343 * Implement here other I/O methods beyond those already implemented *
nucleosam 0:00a3c3f5a8f0 1344 * above, which are declared extern within the component's header file. *
nucleosam 0:00a3c3f5a8f0 1345 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1346 /**
nucleosam 0:00a3c3f5a8f0 1347 * @brief Making the CPU wait.
nucleosam 0:00a3c3f5a8f0 1348 * @param None.
nucleosam 0:00a3c3f5a8f0 1349 * @retval None.
nucleosam 0:00a3c3f5a8f0 1350 */
nucleosam 0:00a3c3f5a8f0 1351 void Powerstep01_Board_Delay(uint32_t delay)
nucleosam 0:00a3c3f5a8f0 1352 {
nucleosam 0:00a3c3f5a8f0 1353 wait_ms(delay);
nucleosam 0:00a3c3f5a8f0 1354 }
nucleosam 0:00a3c3f5a8f0 1355
nucleosam 0:00a3c3f5a8f0 1356 /**
nucleosam 0:00a3c3f5a8f0 1357 * @brief Enabling interrupts.
nucleosam 0:00a3c3f5a8f0 1358 * @param None.
nucleosam 0:00a3c3f5a8f0 1359 * @retval None.
nucleosam 0:00a3c3f5a8f0 1360 */
nucleosam 0:00a3c3f5a8f0 1361 void Powerstep01_Board_EnableIrq(void)
nucleosam 0:00a3c3f5a8f0 1362 {
nucleosam 0:00a3c3f5a8f0 1363 __enable_irq();
nucleosam 0:00a3c3f5a8f0 1364 }
nucleosam 0:00a3c3f5a8f0 1365
nucleosam 0:00a3c3f5a8f0 1366 /**
nucleosam 0:00a3c3f5a8f0 1367 * @brief Disabling interrupts.
nucleosam 0:00a3c3f5a8f0 1368 * @param None.
nucleosam 0:00a3c3f5a8f0 1369 * @retval None.
nucleosam 0:00a3c3f5a8f0 1370 */
nucleosam 0:00a3c3f5a8f0 1371 void Powerstep01_Board_DisableIrq(void)
nucleosam 0:00a3c3f5a8f0 1372 {
nucleosam 0:00a3c3f5a8f0 1373 __disable_irq();
nucleosam 0:00a3c3f5a8f0 1374 }
nucleosam 0:00a3c3f5a8f0 1375
nucleosam 0:00a3c3f5a8f0 1376 /**
nucleosam 0:00a3c3f5a8f0 1377 * @brief Initialising the PWM.
nucleosam 0:00a3c3f5a8f0 1378 * @param None.
nucleosam 0:00a3c3f5a8f0 1379 * @retval None.
nucleosam 0:00a3c3f5a8f0 1380 */
nucleosam 0:00a3c3f5a8f0 1381 void Powerstep01_Board_StepClockInit(void) {}
nucleosam 0:00a3c3f5a8f0 1382
nucleosam 0:00a3c3f5a8f0 1383 /**
nucleosam 0:00a3c3f5a8f0 1384 * @brief Exit the device from reset mode.
nucleosam 0:00a3c3f5a8f0 1385 * @param None.
nucleosam 0:00a3c3f5a8f0 1386 * @retval None.
nucleosam 0:00a3c3f5a8f0 1387 */
nucleosam 0:00a3c3f5a8f0 1388 void Powerstep01_Board_ReleaseReset(void)
nucleosam 0:00a3c3f5a8f0 1389 {
nucleosam 0:00a3c3f5a8f0 1390 standby_reset = 1;
nucleosam 0:00a3c3f5a8f0 1391 }
nucleosam 0:00a3c3f5a8f0 1392
nucleosam 0:00a3c3f5a8f0 1393 /**
nucleosam 0:00a3c3f5a8f0 1394 * @brief Put the device in reset mode.
nucleosam 0:00a3c3f5a8f0 1395 * @param None.
nucleosam 0:00a3c3f5a8f0 1396 * @retval None.
nucleosam 0:00a3c3f5a8f0 1397 */
nucleosam 0:00a3c3f5a8f0 1398 void Powerstep01_Board_Reset(void)
nucleosam 0:00a3c3f5a8f0 1399 {
nucleosam 0:00a3c3f5a8f0 1400 standby_reset = 0;
nucleosam 0:00a3c3f5a8f0 1401 }
nucleosam 0:00a3c3f5a8f0 1402
nucleosam 0:00a3c3f5a8f0 1403 /**
nucleosam 0:00a3c3f5a8f0 1404 * @brief Writing and reading bytes to/from the component through the SPI at the same time.
nucleosam 0:00a3c3f5a8f0 1405 * @param pByteToTransmit pointer to the buffer of data to send.
nucleosam 0:00a3c3f5a8f0 1406 * @param[out] pReceivedByte pointer to the buffer to read data into.
nucleosam 0:00a3c3f5a8f0 1407 * @retval "0" in case of success, "1" otherwise.
nucleosam 0:00a3c3f5a8f0 1408 */
nucleosam 0:00a3c3f5a8f0 1409 uint8_t Powerstep01_Board_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
nucleosam 0:00a3c3f5a8f0 1410 {
nucleosam 0:00a3c3f5a8f0 1411 return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1);
nucleosam 0:00a3c3f5a8f0 1412 }
nucleosam 0:00a3c3f5a8f0 1413
nucleosam 0:00a3c3f5a8f0 1414
nucleosam 0:00a3c3f5a8f0 1415 /*** Component's Instance Variables ***/
nucleosam 0:00a3c3f5a8f0 1416
nucleosam 0:00a3c3f5a8f0 1417 /* ACTION 9 --------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1418 * Declare here interrupt related variables, if needed. *
nucleosam 0:00a3c3f5a8f0 1419 * Note that interrupt handling is platform dependent, see *
nucleosam 0:00a3c3f5a8f0 1420 * "Interrupt Related Methods" above. *
nucleosam 0:00a3c3f5a8f0 1421 * *
nucleosam 0:00a3c3f5a8f0 1422 * Example: *
nucleosam 0:00a3c3f5a8f0 1423 * + mbed: *
nucleosam 0:00a3c3f5a8f0 1424 * InterruptIn feature_irq; *
nucleosam 0:00a3c3f5a8f0 1425 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1426 /* Flag Interrupt. */
nucleosam 0:00a3c3f5a8f0 1427 InterruptIn flag_irq;
nucleosam 0:00a3c3f5a8f0 1428
nucleosam 0:00a3c3f5a8f0 1429 /* Busy Interrupt. */
nucleosam 0:00a3c3f5a8f0 1430 InterruptIn busy_irq;
nucleosam 0:00a3c3f5a8f0 1431
nucleosam 0:00a3c3f5a8f0 1432 /* ACTION 10 -------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1433 * Declare here other pin related variables, if needed. *
nucleosam 0:00a3c3f5a8f0 1434 * *
nucleosam 0:00a3c3f5a8f0 1435 * Example: *
nucleosam 0:00a3c3f5a8f0 1436 * + mbed: *
nucleosam 0:00a3c3f5a8f0 1437 * DigitalOut standby_reset; *
nucleosam 0:00a3c3f5a8f0 1438 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1439 /* Standby/reset pin. */
nucleosam 0:00a3c3f5a8f0 1440 DigitalOut standby_reset;
nucleosam 0:00a3c3f5a8f0 1441
nucleosam 0:00a3c3f5a8f0 1442 /* Pulse Width Modulation pin. */
nucleosam 0:00a3c3f5a8f0 1443 PwmOut pwm;
nucleosam 0:00a3c3f5a8f0 1444
nucleosam 0:00a3c3f5a8f0 1445 /* ACTION 11 -------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1446 * Declare here communication related variables, if needed. *
nucleosam 0:00a3c3f5a8f0 1447 * *
nucleosam 0:00a3c3f5a8f0 1448 * Example: *
nucleosam 0:00a3c3f5a8f0 1449 * + mbed: *
nucleosam 0:00a3c3f5a8f0 1450 * DigitalOut ssel; *
nucleosam 0:00a3c3f5a8f0 1451 * DevSPI &dev_spi; *
nucleosam 0:00a3c3f5a8f0 1452 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1453 /* Configuration. */
nucleosam 0:00a3c3f5a8f0 1454 DigitalOut ssel;
nucleosam 0:00a3c3f5a8f0 1455
nucleosam 0:00a3c3f5a8f0 1456 /* IO Device. */
nucleosam 0:00a3c3f5a8f0 1457 DevSPI &dev_spi;
nucleosam 0:00a3c3f5a8f0 1458
nucleosam 0:00a3c3f5a8f0 1459 /* ACTION 12 -------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1460 * Declare here identity related variables, if needed. *
nucleosam 0:00a3c3f5a8f0 1461 * Note that there should be only a unique identifier for each component, *
nucleosam 0:00a3c3f5a8f0 1462 * which should be the "who_am_i" parameter. *
nucleosam 0:00a3c3f5a8f0 1463 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1464 /* Identity */
nucleosam 0:00a3c3f5a8f0 1465 uint8_t who_am_i;
nucleosam 0:00a3c3f5a8f0 1466
nucleosam 0:00a3c3f5a8f0 1467 /* ACTION 13 -------------------------------------------------------------*
nucleosam 0:00a3c3f5a8f0 1468 * Declare here the component's static and non-static data, one variable *
nucleosam 0:00a3c3f5a8f0 1469 * per line. *
nucleosam 0:00a3c3f5a8f0 1470 * *
nucleosam 0:00a3c3f5a8f0 1471 * Example: *
nucleosam 0:00a3c3f5a8f0 1472 * float measure; *
nucleosam 0:00a3c3f5a8f0 1473 * int instance_id; *
nucleosam 0:00a3c3f5a8f0 1474 * static int number_of_instances; *
nucleosam 0:00a3c3f5a8f0 1475 *------------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 1476 /* Data. */
nucleosam 0:00a3c3f5a8f0 1477 void (*errorHandlerCallback)(uint16_t error);
nucleosam 0:00a3c3f5a8f0 1478 uint8_t deviceInstance;
nucleosam 0:00a3c3f5a8f0 1479
nucleosam 0:00a3c3f5a8f0 1480 /* Static data. */
nucleosam 0:00a3c3f5a8f0 1481 static uint8_t numberOfDevices;
nucleosam 0:00a3c3f5a8f0 1482 static uint8_t spiTxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
nucleosam 0:00a3c3f5a8f0 1483 static uint8_t spiRxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
nucleosam 0:00a3c3f5a8f0 1484
nucleosam 0:00a3c3f5a8f0 1485
nucleosam 0:00a3c3f5a8f0 1486 public:
nucleosam 0:00a3c3f5a8f0 1487
nucleosam 0:00a3c3f5a8f0 1488 /* Static data. */
nucleosam 0:00a3c3f5a8f0 1489 static bool spiPreemptionByIsr;
nucleosam 0:00a3c3f5a8f0 1490 static bool isrFlag;
nucleosam 0:00a3c3f5a8f0 1491
nucleosam 0:00a3c3f5a8f0 1492 };
nucleosam 0:00a3c3f5a8f0 1493
nucleosam 0:00a3c3f5a8f0 1494 #endif // __POWERSTEP01_CLASS_H
nucleosam 0:00a3c3f5a8f0 1495
nucleosam 0:00a3c3f5a8f0 1496 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/